Photographic devices and control methods thereof, and apparatus and storage medium

Abstract

Photographic devices and control methods thereof, and an apparatus and a storage medium. A photographic device comprises: a load, which at least comprises a first image sensor and a second image sensor; a rotation axis drive assembly, which is used for driving the load to rotate about a rotation axis; one or more memories, which are used for storing computer program instructions; and one or more processors, which are used for invoking the computer program instructions for executing: when the rotation axis drive assembly drives the load to be in a first attitude, controlling the first image sensor to capture a first image and controlling the second image sensor to capture a second image, and on the basis of the first image and the second image, generating a panoramic image, wherein when the load is in the first attitude, the photographic device is in a panoramic photographic mode; and when the rotation axis drive assembly drives the load to be in a second attitude, controlling the first image sensor to capture a third image, wherein when the load is in the second attitude, the photographic device is in a non-panoramic photographic mode.

Description

Filming equipment, control methods, devices, and storage media

[0001] This application claims priority to patent application filed on May 29, 2024, with application number PCT / CN2024 / 096165, entitled "Mobile Platform Control Method, Apparatus, Mobile Platform and Computer-Readable Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of aerial photography technology, and in particular to a shooting device and its control method, apparatus, and storage medium. Background Technology

[0003] Currently, panoramic cameras can use two fisheye lenses to stitch together images to create a panoramic image, but there is still some room for improvement in panoramic cameras. Summary of the Invention

[0004] Based on this, this application provides a shooting device and its control method, apparatus, and storage medium to improve the shooting effect or performance of a panoramic camera.

[0005] In a first aspect, this application provides a shooting device, including:

[0006] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0007] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0008] One or more memories are used to store computer program instructions;

[0009] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0010] When the load is driven to a first posture by the rotating shaft drive assembly, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0011] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0012] Secondly, this application also provides a shooting device, including:

[0013] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0014] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0015] One or more memories are used to store computer program instructions;

[0016] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0017] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture;

[0018] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0019] Thirdly, this application also provides a shooting device, including:

[0020] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0021] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0022] One or more memories are used to store computer program instructions;

[0023] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0024] When the load is driven by the rotating axis drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in a panoramic shooting mode.

[0025] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0026] Fourthly, this application also provides a shooting device, including:

[0027] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0028] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0029] One or more memories are used to store computer program instructions;

[0030] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0031] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0032] When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

[0033] Fifthly, this application also provides a shooting device, including:

[0034] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0035] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0036] One or more memories are used to store computer program instructions;

[0037] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0038] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0039] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0040] Sixthly, this application also provides a shooting device, including:

[0041] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0042] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0043] One or more memories are used to store computer program instructions;

[0044] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0045] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0046] When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0047] Seventhly, this application also provides a shooting device, including:

[0048] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0049] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0050] One or more memories are used to store computer program instructions;

[0051] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0052] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0053] When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0054] Eighthly, this application also provides a shooting device, including:

[0055] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0056] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0057] One or more memories are used to store computer program instructions;

[0058] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0059] When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor is used to acquire a first image, the second image sensor is used to acquire a second image, and the first image and the second image are used to generate a panoramic image.

[0060] When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

[0061] Ninthly, this application also provides a shooting device, including:

[0062] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0063] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0064] One or more memories are used to store computer program instructions;

[0065] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0066] In response to the shooting device entering the panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to a first posture, and the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0067] In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0068] Tenthly, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0069] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0070] One or more memories are used to store computer program instructions;

[0071] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0072] When the load is driven to a first posture by the rotating shaft drive assembly, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0073] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0074] Eleventhly, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0075] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0076] One or more memories are used to store computer program instructions;

[0077] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0078] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture;

[0079] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0080] In a twelfth aspect, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0081] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0082] One or more memories are used to store computer program instructions;

[0083] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0084] When the load is driven by the rotating axis drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in a panoramic shooting mode.

[0085] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0086] In a thirteenth aspect, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0087] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0088] One or more memories are used to store computer program instructions;

[0089] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0090] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0091] When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

[0092] In a fourteenth aspect, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0093] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0094] One or more memories are used to store computer program instructions;

[0095] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0096] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire the first image, the second image sensor is controlled to acquire the second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0097] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0098] In a fifteenth aspect, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0099] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0100] One or more memories are used to store computer program instructions;

[0101] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0102] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0103] When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0104] In a sixteenth aspect, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0105] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0106] One or more memories are used to store computer program instructions;

[0107] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0108] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0109] When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0110] In a seventeenth aspect, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0111] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0112] One or more memories are used to store computer program instructions;

[0113] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0114] When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor is used to acquire a first image, the second image sensor is used to acquire a second image, and the first image and the second image are used to generate a panoramic image.

[0115] When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

[0116] In an eighteenth aspect, this application also provides a shooting device capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor for sensing information of a first field of view, the second image sensor for sensing information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view; the shooting device includes:

[0117] A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft;

[0118] One or more memories are used to store computer program instructions;

[0119] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0120] In response to the shooting device entering the panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to a first posture, and the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0121] In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0122] In a nineteenth aspect, this application also provides an imaging device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes:

[0123] One or more memories are used to store computer program instructions;

[0124] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0125] When the load is driven to a first posture by the rotating shaft drive assembly, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0126] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0127] In a twentieth aspect, this application also provides a shooting device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The shooting device includes:

[0128] One or more memories are used to store computer program instructions;

[0129] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0130] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture;

[0131] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0132] In a twentieth aspect, this application also provides a shooting device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The shooting device includes:

[0133] One or more memories are used to store computer program instructions;

[0134] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0135] When the load is driven by the rotating axis drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in a panoramic shooting mode.

[0136] When the load is driven to a second posture by the rotating axis drive assembly, the shooting device is controlled to exit the panoramic shooting mode. When the shooting device exits the panoramic shooting mode, the first image sensor is used to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0137] In a twentieth aspect, this application also provides an imaging device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes:

[0138] One or more memories are used to store computer program instructions;

[0139] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0140] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0141] When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

[0142] In a twentieth aspect, this application also provides an imaging device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes:

[0143] One or more memories are used to store computer program instructions;

[0144] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0145] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire the first image, the second image sensor is controlled to acquire the second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0146] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0147] In a twentieth aspect, this application also provides an imaging device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes:

[0148] One or more memories are used to store computer program instructions;

[0149] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0150] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0151] When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0152] In a twentieth aspect, this application also provides an imaging device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes:

[0153] One or more memories are used to store computer program instructions;

[0154] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0155] When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0156] When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0157] In a twentieth aspect, this application also provides an imaging device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes:

[0158] One or more memories are used to store computer program instructions;

[0159] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0160] When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor is used to acquire a first image, the second image sensor is used to acquire a second image, and the first image and the second image are used to generate a panoramic image.

[0161] When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

[0162] In a twentieth aspect, this application also provides an imaging device capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes:

[0163] One or more memories are used to store computer program instructions;

[0164] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0165] In response to the shooting device entering the panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to a first posture, and the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0166] In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0167] In its twentieth aspect, this application also provides a photographing device, comprising:

[0168] body;

[0169] The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0170] A single-axis drive assembly, the single-axis drive assembly including a pitch axis drive assembly, one end of the pitch axis drive assembly being connected to the load for driving the load to rotate about the pitch axis;

[0171] One or more memories are used to store computer program instructions;

[0172] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0173] When the pitch axis drive assembly drives the load to a first attitude, the first image sensor is controlled to acquire a first image above the shooting device, the second image sensor is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image, wherein the shooting device itself is not in the panoramic image.

[0174] In its twentieth aspect, this application also provides a photographing device, comprising:

[0175] The fuselage is capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view.

[0176] A single-axis drive assembly, the single-axis drive assembly including a pitch axis drive assembly, one end of the pitch axis drive assembly being connected to the load for driving the load to rotate about the pitch axis;

[0177] One or more memories are used to store computer program instructions;

[0178] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0179] When the pitch axis drive assembly drives the load to a first attitude, the first image sensor is controlled to acquire a first image above the shooting device, the second image sensor is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image, wherein the shooting device itself is not in the panoramic image.

[0180] In a thirtieth aspect, this application also provides a photographing device, including:

[0181] The device includes a fuselage capable of mounting a load and a single-axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The single-axis drive assembly includes a pitch axis drive assembly, one end of which is connected to the load and used to drive the load to rotate about a pitch axis.

[0182] One or more memories are used to store computer program instructions;

[0183] One or more processors are configured to invoke the computer program instructions to perform the following operations:

[0184] When the pitch axis drive assembly drives the load to a first attitude, the first image sensor is controlled to acquire a first image above the shooting device, the second image sensor is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image, wherein the shooting device itself is not in the panoramic image.

[0185] In its thirty-first aspect, this application also provides a method for controlling a shooting device, comprising:

[0186] When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0187] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0188] In its thirty-second aspect, this application also provides a method for controlling a shooting device, including:

[0189] When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture;

[0190] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0191] In its thirty-third aspect, this application also provides a method for controlling a shooting device, including:

[0192] When the rotating axis drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The load includes at least the first image sensor and the second image sensor. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0193] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0194] In its thirty-fourth aspect, this application also provides a method for controlling a shooting device, comprising:

[0195] When the rotating shaft drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image, wherein the load includes at least the first image sensor and the second image sensor;

[0196] When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

[0197] In its thirty-fifth aspect, this application also provides a method for controlling a shooting device, including:

[0198] When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor, the panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0199] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0200] In its thirty-sixth aspect, this application also provides a method for controlling a shooting device, comprising:

[0201] When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor, the panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0202] When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0203] In its thirty-seventh aspect, this application also provides a method for controlling a shooting device, including:

[0204] When the rotating shaft drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image, wherein the load includes at least the first image sensor and the second image sensor;

[0205] When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0206] In its thirty-eighth aspect, this application also provides a method for controlling a shooting device, including:

[0207] When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor of the load is used to acquire a first image, and the second image sensor of the load is used to acquire a second image. The first image and the second image are used to generate a panoramic image. The load includes at least the first image sensor and the second image sensor.

[0208] When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

[0209] In its thirty-ninth aspect, this application also provides a method for controlling a shooting device, comprising:

[0210] In response to the shooting device entering the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load in a first posture, and the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0211] In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0212] In a fortieth aspect, this application also provides a method for controlling a shooting device, including:

[0213] When the load is driven by the pitch axis drive assembly to a first attitude, the first image sensor of the load is controlled to acquire a first image above the shooting device, the second image sensor of the load is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image. The shooting device itself is not in the panoramic image. The load includes at least the first image sensor and the second image sensor, and the pitch axis drive assembly is used to drive the load to rotate about the pitch axis.

[0214] In its forty-first aspect, this application also provides a control device for a shooting apparatus, comprising:

[0215] One or more memories are used to store computer program instructions;

[0216] One or more processors are used to invoke the computer program instructions to execute the control method of the shooting device described above.

[0217] In a forty-second aspect, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the above-described control method for the shooting device.

[0218] The shooting device, control method, apparatus, and storage medium disclosed in this application drive a load including at least two image sensors to different postures via a rotating shaft drive assembly, thereby enabling the shooting device to switch between panoramic shooting mode and non-panoramic shooting mode. In panoramic shooting mode, two image sensors can be used to acquire images and generate panoramic images; while in non-panoramic shooting mode, one of the image sensors on the load is used to acquire images, thus improving the shooting effect or performance of the panoramic camera.

[0219] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0220] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0221] Figure 1 is a schematic diagram of image quality analysis for panoramic cameras;

[0222] Figure 2 is a schematic diagram of image quality analysis for panoramic camera settings on an aircraft.

[0223] Figure 3 is a schematic block diagram of the structure of the shooting device provided in the embodiment of this application;

[0224] Figure 4 is a schematic diagram of a panoramic camera installed on an aircraft according to an embodiment of this application;

[0225] Figure 5 is a top-view schematic diagram of the panoramic camera installed on the aircraft according to an embodiment of this application;

[0226] Figure 6 is a side view of a panoramic camera installed on an aircraft according to an embodiment of this application.

[0227] Figure 7 is a front-view schematic diagram of a panoramic camera installed on an aircraft according to an embodiment of this application;

[0228] Figure 8 is a schematic diagram showing the optical axis of the panoramic camera provided in the embodiment of this application facing upwards / downwards;

[0229] Figure 9 is a schematic diagram of the optical axis of the panoramic camera provided in the embodiment of this application facing forward / backward;

[0230] Figure 10 is a schematic diagram showing the optical axis of the panoramic camera provided in the embodiment of this application is oriented at an angle;

[0231] Figure 11 is another schematic diagram showing the optical axis of the panoramic camera provided in the embodiment of this application being obliquely oriented;

[0232] Figure 12 is a schematic diagram of the pitch axis gimbal being set in the center of the panoramic camera according to an embodiment of this application;

[0233] Figure 13 is a schematic diagram showing the tilt axis gimbal offset relative to the center of the panoramic camera provided in the embodiment of this application;

[0234] Figure 14 is a schematic diagram of the panoramic camera in a first posture according to an embodiment of this application;

[0235] Figure 15 is a schematic diagram of the field of view of the panoramic camera provided in the embodiment of this application;

[0236] Figure 16 is another schematic diagram of the field of view of the panoramic camera provided in the embodiment of this application;

[0237] Figure 17 is a schematic diagram of the panoramic camera in the second posture provided in the embodiment of this application;

[0238] Figure 18 is a schematic diagram of the mode setting interface provided in an embodiment of this application;

[0239] Figure 19 is a schematic diagram of panoramic camera image quality analysis in aerial photography mode provided by an embodiment of this application;

[0240] Figure 20 is a schematic diagram of panoramic camera image quality analysis in FPV mode provided by an embodiment of this application;

[0241] Figure 21 is a schematic diagram of panoramic camera image quality analysis in another aerial photography mode provided by an embodiment of this application;

[0242] Figure 22 is a schematic diagram of an aircraft landing on the ground according to an embodiment of this application;

[0243] Figure 23 is another schematic block diagram of the shooting device provided in an embodiment of this application;

[0244] Figure 24 is a top view of an aircraft equipped with a visual sensor provided in an embodiment of this application;

[0245] Figure 25 is a front-view schematic diagram of an aircraft equipped with a visual sensor provided in an embodiment of this application;

[0246] Figure 26 is a side view of an aircraft equipped with a visual sensor provided in an embodiment of this application;

[0247] Figure 27 is another schematic block diagram of the shooting device provided in an embodiment of this application;

[0248] Figures 28 to 37 are schematic flowcharts of the control method for the shooting device provided in the embodiments of this application;

[0249] Figure 38 is a schematic block diagram of the control device of the shooting equipment provided in the embodiment of this application. Detailed Implementation

[0250] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0251] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0252] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0253] It should also be understood that the term "and / or" as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0254] A panoramic camera is a camera capable of capturing a 360-degree panoramic view. It typically consists of a pair of fisheye lenses placed back-to-back or multiple wide-angle lenses arranged in a circle, capable of simultaneously capturing the surrounding environment. These images are then stitched together using special software to create a panoramic image or video.

[0255] Referring to Figure 1, this is a schematic diagram of image quality analysis for a panoramic camera provided in an embodiment of this application. As shown in Figure 1, the panoramic camera includes two fisheye lenses stacked vertically (or horizontally, or symmetrically stacked in other directions). Each fisheye lens has a field of view (FOV) greater than 180 degrees. Each fisheye lens captures images within its corresponding FOV range. The two sets of image data captured by the two fisheye lenses can be stitched together to create a 360-degree panoramic image. Due to the inherent optical characteristics of fisheye lenses, generally speaking, the image quality is better in the center of the field of view and worse at the edges. As shown in Figure 1, the image quality of the panoramic camera is better directly above and below (corresponding to the center of the images from the two fisheye lenses). If the main field of view is horizontal, the image is captured using pixel areas near the edges of the fisheye lens, resulting in poor image quality.

[0256] In related technologies, a panoramic camera is mounted on an aircraft and fixedly connected to the aircraft fuselage via a specific mechanical structure. This camera can generate a complete 360-degree spherical panoramic image. For example, Figure 2 shows a schematic diagram of the panoramic camera setup on an aircraft. Two fisheye lenses are positioned at the top and bottom of the fuselage, and their positions relative to the fuselage are fixed and cannot be rotated or moved. Therefore, the image quality of this panoramic aircraft is better directly above and below (corresponding to the center of the image from the top and bottom fisheye lenses), while the image quality is worse in the four directions (forward, backward, left, and right) where the aircraft is flying (corresponding to the edges of the image from the top and bottom fisheye lenses). This distribution of panoramic cameras can meet the needs of panoramic shooting, but since users are more concerned with the forward / downward / upward perspective, aerial photography uses the edges of the fisheye lenses with lower image quality to capture images from the user's primary focus. This results in poor image quality from the user's primary focus, leading to a poor user experience.

[0257] In light of the aforementioned issue of poor image quality and visual appeal at the edge seams of the lens in panoramic cameras, this application proposes a solution for a panoramic camera with an adjustable rotation angle. The orientation of the panoramic camera can be flexibly adjusted via a rotation axis drive component, allowing the movable platform to use the pixel areas with better image quality in the panoramic camera to capture the target object / target orientation / main focus angle, thereby achieving better image quality at the main focus angle.

[0258] The main focus perspective can be the direction of movement of the mobile platform (e.g., the flight direction of the aircraft), the direction of the target object or the target direction selected by the user, or the main focus perspective of the mobile platform in different modes (e.g., the focus perspective in FPV mode is mainly the forward flight direction of the aircraft, while the focus perspective in aerial photography mode is mainly the forward flight direction or the forward downward view direction).

[0259] Based on this, embodiments of this application provide a shooting device and its control method, apparatus, and storage medium for improving the image quality of captured images. Some embodiments of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0260] The shooting equipment involved in this application includes, but is not limited to, mobile platforms and panoramic cameras. Mobile platforms include, but are not limited to, aircraft, mobile robots, mobile vehicles, boats, and handheld products (such as handheld gimbals, selfie sticks, cameras, and mobile phones). Aircraft can be, for example, drones or manned aircraft, and can include aerial and underwater aircraft. Application scenarios for aircraft include, but are not limited to, general aerial photography, flight experience, industry inspection / operations, agricultural operations, logistics transportation, and aerial performances. Aircraft can be fixed-wing aircraft or multi-rotor aircraft, and multi-rotor aircraft can include birotor, quadcopter, and hexacopter aircraft. Cameras can include various devices with shooting functions, such as mobile phones, iPads, computers, watches, action cameras, and SLR cameras. The following embodiments use aircraft as an example for illustration.

[0261] The following embodiments use an aircraft as an example of a mobile platform. In other implementations, the aircraft mentioned in this application can be replaced with other types of mobile platforms to implement the embodiments mentioned in this application.

[0262] This application combines a panoramic camera with an aircraft through a specific configuration design to better meet the needs of various scenarios such as panoramic shooting, conventional aerial photography, FPV aerial photography, landing, or storage.

[0263] Please refer to Figure 3, which is a schematic block diagram of an imaging device provided in an embodiment of this application. As shown in Figure 3, the imaging device 1000 includes a load 100, a rotation axis drive assembly 200, one or more memories 300, and one or more processors 400. In other possible implementations, the imaging device 1000 includes the rotation axis drive assembly 200, one or more memories 300, and one or more processors 400, and the imaging device 1000 can be mounted with the load 100; for example, the imaging device 1000 can be detachably connected to the load 100. Alternatively, the imaging device 1000 includes one or more memories 300, one or more processors 400, and the imaging device 1000 can be mounted with the load 100 and the rotation axis drive assembly 200; for example, the imaging device 1000 can be detachably connected to the load 100 and the rotation axis drive assembly 200. This application does not limit the structure of the imaging device 1000.

[0264] The load 100 includes at least a first image sensor 101 and a second image sensor 102. The first image sensor 101 is used to sense information about a first field of view, and the second image sensor 102 is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers the panoramic field of view. It should be noted that this embodiment describes the load 100 as including the first image sensor 101 and the second image sensor 102 as an example. In other possible implementations, the load 100 may include other numbers of image sensors, as long as the set of field of view of each of the image sensors at least covers the panoramic field of view.

[0265] For example, the optical axes of the first image sensor 101 and the second image sensor 102 are parallel to each other, and the main sensing directions of the first image sensor 101 and the second image sensor 102 are opposite. For instance, both the optical axes of the first image sensor 101 and the second image sensor 102 are vertical, with the main sensing direction of the first image sensor 101 being vertically upward and the main sensing direction of the second image sensor 102 being vertically downward. Alternatively, the optical axes of the first image sensor 101 and the second image sensor 102 are collinear, and the main sensing directions of the first image sensor 101 and the second image sensor 102 are opposite, meaning the first image sensor 101 and the second image sensor 102 are arranged back-to-back. The opposite main sensing directions of the first image sensor 101 and the second image sensor 102 ensure that the combined field of view of each of the first image sensor 101 and the second image sensor 102 can cover a panoramic field of view.

[0266] For example, the field of view of the first image sensor 101 is greater than or equal to 180 degrees, the field of view of the second image sensor 102 is greater than or equal to 180 degrees, and the panoramic image includes a 360-degree panorama. Alternatively, the field of view of the first image sensor 101 and the second image sensor 102 may reach 190 degrees, the main sensing direction of the first image sensor 101 and the main sensing direction of the second image sensor 102 may be opposite, and the combined field of view of the first image sensor 101 and the second image sensor 102 may cover a 360-degree panoramic field of view. The panoramic image generated based on the first image sensor 101 and the second image sensor 102 includes a 360-degree panorama.

[0267] For example, both the first image sensor 101 and the second image sensor 102 are fisheye lenses. This application describes an embodiment using fisheye lenses as an example; however, in other possible implementations, the first image sensor 101 and the second image sensor 102 can also be other types of cameras, which are not limited in this application.

[0268] For example, the rotary axis drive assembly 200 includes a pitch axis drive assembly, such as a pitch axis gimbal. In other possible implementations, the rotary axis drive assembly 200 may also be other rotary axis gimbals, such as roll axis gimbals, which are not limited in this application.

[0269] The rotation angle of the load 100 driven by the rotary shaft drive assembly 200 can be within any range or a preset range. Here, "any range" means that the load 100 can rotate without restriction around the rotation shaft. The preset range can be achieved by setting a limit angle for the rotary shaft drive assembly 200. This limit angle can be a mechanical limit angle or an electronic limit angle for the drive motor of the rotary shaft drive assembly 200, which is not limited in this application.

[0270] For example, taking the shooting device 1000 as an aircraft as an example, as shown in Figures 4 to 7, it is a schematic diagram of a panoramic camera installed on an aircraft. Here, 100 represents the panoramic camera, 200 represents the pitch axis gimbal, and 1000 represents the quadcopter. The panoramic camera 100 includes a first fisheye lens 101 and a second fisheye lens 102. The first fisheye lens 101 and the second fisheye lens 102 are a pair of fisheye lenses with collinear optical axes, arranged back-to-back. The field of view of each fisheye lens is greater than or equal to 180 degrees, for example, 190 degrees, 220 degrees, etc. The field of view of the first fisheye lens 101 and the second fisheye lens 102 are vertically distributed and in opposite directions. The first fisheye lens 101 and the second fisheye lens 102 can work together to complete 360-degree panoramic shooting, ensuring that a 360-degree panoramic image is acquired simultaneously. This application describes a panoramic camera with two cameras as an example. In other possible implementations, the panoramic camera can be any number of cameras, as long as the set of field of view of each of the cameras can capture 360-degree panoramic images.

[0271] For example, the pitch axis gimbal 200 is located at the nose of the aircraft 1000. In other possible implementations, the pitch axis gimbal 200 can also be located at other positions on the aircraft 1000, such as the tail or the side of the fuselage. This application does not limit this. This application describes the embodiment using a pitch axis gimbal as an example. In other possible implementations, other rotation axis gimbals, such as roll axis gimbals, can also be used. This application does not limit this.

[0272] The panoramic camera 100 can rotate around its pitch axis to change the orientation of its optical axis. For example, Figures 8 to 11 show different states of the panoramic camera: optical axis pointing upwards / downwards, optical axis pointing forwards / backwards, and optical axis pointing at an angle. Figure 8 is a schematic diagram of the panoramic camera with its optical axis pointing upwards / downwards, Figure 9 is a schematic diagram of the panoramic camera with its optical axis pointing forwards / backwards, and Figures 10 and 11 are schematic diagrams of the panoramic camera with its optical axis pointing at an angle.

[0273] It should be noted that the pitch axis rotation angle is continuously variable, and can rotate within any or a specified range, starting from an initial 0-degree angle as shown in Figure 8. Here, "any range" means that the panoramic camera 100 can rotate without restriction around the pitch axis gimbal 200; "specified range" can be an angle introduced based on the actual application, such as ±135 degrees or ±165 degrees. The specific specified angle can be designed according to the actual situation. This specified angle can be achieved by setting a limit angle on the pitch axis gimbal 200, which can be a mechanical limit angle or an electronic limit angle of the gimbal drive motor.

[0274] In one possible implementation, when the aircraft is in panoramic shooting mode or folding mode, the attitude of the panoramic camera can be controlled to switch to the state shown in Figure 8. In Figure 8, the optical axes of the two fisheye lenses of the panoramic camera are pointing upwards / downwards respectively, or it can be described as the optical axes of the fisheye lenses being vertical. In this state, the two fisheye lenses can each capture images of 360 degrees horizontally and 180 degrees / more than 180 degrees vertically above and below the aircraft, and then stitch them together to create a 360-degree horizontal and 360-degree vertical panoramic image. Alternatively, in folding mode, the two fisheye lenses protruding from the fuselage can be switched to the vertical direction for better folding. When the aircraft is in the state shown in Figure 8, the field of view of the panoramic camera is shown in Figures 15-16. Since the field of view of a single fisheye camera can exceed 180°, for example, reaching 190°, the two fisheye cameras are placed back to back with their optical axes overlapping, and the aircraft fuselage is between the two fisheye cameras, i.e., in the blind spot of either fisheye camera. Therefore, the aircraft can be "stealthed" in the generated panoramic image, meaning that the aircraft body will not appear in the panoramic image.

[0275] In one possible implementation, when the aircraft is in normal aerial photography, FPV aerial photography, or landing mode, the pitch axis gimbal can be rotated to change the attitude of the panoramic camera, switching the panoramic camera to the state shown in Figure 9. In Figure 9, the optical axes of the two fisheye lenses of the panoramic camera are facing forward / backward respectively, or it can be described as the optical axes of the fisheye lenses being horizontal. When the aircraft is in aerial photography mode or close-up tracking mode, the user's shooting subject or main focus point is generally in front of the aircraft. Using the state shown in Figure 9 for shooting allows the use of areas with better fisheye lens imaging to capture images in the horizontal / forward direction. The image quality in the front and rear directions of the aircraft is good, thus improving the image quality of the main focus point. Alternatively, in landing mode, the fisheye lens can be switched to a non-ground direction to avoid the fisheye lens being hit by the landing surface when the aircraft lands.

[0276] In one possible implementation, when the aircraft is in normal or FPV aerial photography mode, the pitch axis gimbal can be rotated to change the attitude of the panoramic camera, switching the panoramic camera to the state shown in Figure 10. In Figure 10, the optical axes of the two fisheye lenses of the panoramic camera are angled, or it can be described as the optical axes of the fisheye lenses having an angle with both the horizontal and vertical directions. In this state, images in front of / above the aircraft can be captured from a low angle. Figure 20 is a schematic diagram of panoramic camera image quality analysis in FPV mode provided by an embodiment of this application. Generally, compared with normal aerial photography mode, FPV mode is mostly controlled manually. It can break away from the fixed camera movement mode, and the output viewpoint is more free. It also pursues a first-person perspective experience. The operator can manually control and switch the display viewpoint. In addition, the attitude angle of the aircraft changes more significantly in FPV mode. For example, FPV mode can perform various high-difficulty actions such as diving and flipping, and the output image is more impactful. As shown in Figure 20, the aircraft's fuselage is tilted forward at approximately 45°, indicating a high-angle, high-speed flight state, which is a common flight attitude for FPV aircraft. In this state, FPV aerial photography can be performed. The user's subject is generally located in the direction of the aircraft's flight, that is, in the upward-front direction of the aircraft's fuselage. By shooting in the state shown in Figure 10, the pixel area with better imaging effect of the fisheye lens can be used to capture the image in the upward-front direction of the fuselage, so as to shoot the image of the aircraft's main point of interest from an upward angle, thereby improving the image quality of the main point of interest.

[0277] In one possible implementation, when the aircraft is in normal aerial photography or FPV aerial photography mode, the pitch axis gimbal can be rotated to change the attitude of the panoramic camera, switching the panoramic camera to the state shown in Figure 11. In Figure 11, the optical axes of the two fisheye lenses of the panoramic camera are angled, or it can be described as the optical axes of the fisheye lenses having an angle with both the horizontal and vertical directions. In this state, images can be captured from above / below the aircraft, using the area with better imaging effect of the fisheye lens to acquire images, thereby improving the image quality of the main focus viewpoint. As shown in Figure 21, it is a schematic diagram of panoramic camera image quality analysis in aerial photography mode provided by an embodiment of this application. When shooting in aerial photography mode, since the aircraft is flying at a high altitude, the user's shooting object is generally located in front of and below the aircraft. By using the attitude shown in Figure 11, the pixel area with better imaging effect of the fisheye lens can be used to acquire images of the aircraft body at an angle downwards, thereby pitching the images of the aircraft's main focus viewpoint and improving the image quality of the aircraft body at an angle downwards.

[0278] Optionally, in the modes shown in Figures 9-11, where the rear fisheye view is obstructed by the aircraft body, the rear fisheye lens can be turned off, ceasing its operation and image acquisition. This exits the panoramic shooting mode, allowing the panoramic camera's full image processing power to be concentrated on processing the front fisheye image information, further improving image quality. Furthermore, since video editing for panoramic drones is quite complex, requiring the extraction of the desired square image from the spherical panoramic view, and if the panoramic drone always records the entire image information from both fisheye cameras simultaneously, it generates a large amount of redundant image information, increasing the difficulty of post-processing and editing. Therefore, after exiting panoramic shooting mode, the panoramic camera only uses one fisheye lens to acquire images, resulting in footage similar to conventional aerial photography, facilitating post-processing and saving on the amount of footage captured.

[0279] In summary, the aircraft can flexibly adjust the orientation of the panoramic camera through rotation axis drive components such as the pitch axis gimbal, so that the aircraft can use the pixel area with better image quality to capture information about the target or the target's orientation, thereby improving the image quality of the main focus view.

[0280] In addition, by setting up a rotating shaft drive assembly, the problem of preventing the fisheye lens from hitting the ground during the landing phase of the aircraft can also be solved.

[0281] For example, the rotation axis of the rotary axis drive assembly 200 passes through the center of the load 100. Passing through the center of the load 100 minimizes the motor torque required for the rotary axis drive assembly 200 to rotate the load 100 by a certain angle, thus minimizing the rotary axis control torque when the load 100 rotates. For example, as shown in Figures 6-11, the pitch axis gimbal 200 is positioned at the center of the panoramic camera 100, minimizing the pitch control torque when the panoramic camera rotates. Alternatively, the rotation axis of the rotary axis drive assembly 200 can be offset from the center of the load 100. For example, as shown in Figures 12-13, the pitch axis gimbal 200 is offset relative to the center of the panoramic camera 100. Specific configurations can be flexibly adjusted according to actual conditions, and this application does not impose limitations on this.

[0282] For example, the rotation axis drive assembly 200 is disposed at the head of the shooting device 1000. In other possible implementations, the rotation axis drive assembly 200 may also be disposed at the tail or side of the shooting device 1000, and this application does not limit this to any particular implementation.

[0283] The rotation axis drive assembly 200 drives the load 100 to rotate around the rotation axis, allowing the load 100 to be in different postures, including a first posture, a second posture, etc. For different postures, the orientations of the optical axes of the first image sensor 101 and the second image sensor 102 are different. For the same posture, the orientations of the optical axes of the first image sensor 101 and the second image sensor 102 are not unique. It should be noted that in this embodiment, the first image sensor 101 and the second image sensor 102 are arranged vertically on the body of the imaging device 1000 to form the load 100 layout. In other possible implementations, the first image sensor 101 and the second image sensor 102 can also be arranged horizontally on the imaging device 1000, such as at the front and back or left and right sides of the body to form the load 100 layout.

[0284] The following describes the orientation of the optical axis of the first image sensor 101 and the second image sensor 102 under different postures, with the first image sensor 101 and the second image sensor 102 arranged in the vertical direction of the camera body of the shooting device 1000.

[0285] In some implementations, when the load 100 is in a first orientation, the optical axes of the first image sensor 101 and the second image sensor 102 are approximately vertical. For example, as shown in Figure 8, when the panoramic camera is in its first orientation, the optical axes of the two fisheye lenses are parallel to the vertical direction.

[0286] In some implementations, when the load 100 is in a first posture, the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 form a first angle with the vertical direction. This first angle is less than or equal to a first preset angle threshold. For example, if the first preset angle threshold is set to 5 degrees, then when the load 100 is in the first posture, the first angle between the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 and the vertical direction is within 5 degrees. The first preset angle threshold can be flexibly set according to actual conditions and is not limited in this application.

[0287] In some implementations, when the load 100 is in a first posture, the optical axes of the first image sensor 101 and the second image sensor 102 are parallel to the vertical direction of the camera body 1000. For example, as shown in Figure 8 or Figure 14, when the panoramic camera is in the first posture, the optical axes of the two fisheye lenses are parallel to the vertical direction of the aircraft body.

[0288] In some implementations, when the load 100 is in a first posture, the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 form a second angle with the vertical direction of the camera body of the imaging device 1000. This second angle is less than or equal to a second preset angle threshold. For example, if the second preset angle threshold is set to 5 degrees, then when the load 100 is in the first posture, the second angle between the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 and the vertical direction of the camera body of the imaging device 1000 is within 5 degrees. The second preset angle threshold can be flexibly set according to actual conditions and is not limited in this application.

[0289] It is understandable that as the load 100 rotates around the rotation axis at different angles, the first image sensor 101 and the second image sensor 102 can be used to acquire images from the imaging device 1000 in different directions, including the following scenarios:

[0290] In one implementation, when the load 100 is in a first posture, the first image sensor 101 is used to acquire images above the shooting device 1000 and the second image sensor 102 is used to acquire images below the shooting device 1000; alternatively, the first image sensor 101 is used to acquire images below the shooting device 1000 and the second image sensor 102 is used to acquire images above the shooting device 1000. For example, as shown in FIG8, when the panoramic camera is in the first posture, the upper fisheye lens acquires images above the aircraft, and the lower fisheye lens acquires images below the aircraft. Exemplarily, the vertical field of view of the first image sensor 101 is greater than or equal to 180 degrees and the horizontal field of view is greater than or equal to 360 degrees, the vertical field of view of the second image sensor 102 is greater than or equal to 180 degrees and the horizontal field of view is greater than or equal to 360 degrees, and the panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama. For example, as shown in Figures 15 and 16, the first image sensor 101 protrudes above the aircraft's fuselage, and the second image sensor 102 protrudes below the fuselage. The vertical field of view of a single fisheye lens of the panoramic camera can exceed 180 degrees, for example, reaching 190 degrees. The two fisheye lenses of the panoramic camera are placed back-to-back with their optical axes collinear, and the aircraft's fuselage is located between the two fisheye lenses, i.e., in the blind spot of either fisheye lens. Therefore, in the generated panoramic image, the aircraft can achieve "stealth," meaning the fuselage will not appear in the panoramic image.

[0291] In another implementation, the first image sensor 101 is used to acquire images to the left of the imaging device 1000 and the second image sensor 102 is used to acquire images to the right of the imaging device 1000; or, the first image sensor 101 is used to acquire images to the right of the imaging device 1000 and the second image sensor 102 is used to acquire images to the left of the imaging device 1000; or, the first image sensor 101 is used to acquire images in front of the imaging device 1000 and the second image sensor 102 is used to acquire images behind the imaging device 1000; or, the first image sensor 101 is used to acquire images behind the imaging device 1000 and the second image sensor 102 is used to acquire images in front of the imaging device 1000. For example, the first image sensor 101 protrudes from the front of the aircraft fuselage, and the second image sensor 102 protrudes from the rear of the aircraft. The optical axis of the first image sensor 101 faces forward, and the optical axis of the second image sensor 102 faces backward. Both the first image sensor 101 and the second image sensor 102 are fisheye lenses, and the two fisheye lenses acquire images from the front and rear of the aircraft, respectively. For example, the first image sensor 101 has a horizontal field of view greater than or equal to 180 degrees and a vertical field of view greater than or equal to 360 degrees, and the second image sensor 102 has a horizontal field of view greater than or equal to 180 degrees and a vertical field of view greater than or equal to 360 degrees. The panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama. For example, the horizontal field of view of the two fisheye lenses can exceed 180 degrees, for example, reaching 190 degrees, and the vertical field of view can reach 360 degrees, so that the generated panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama.

[0292] In some implementations, when the load 100 is in the second pose, the optical axes of the first image sensor 101 and the second image sensor 102 are approximately horizontal. For example, as shown in Figure 9, when the panoramic camera is in the second pose, the optical axes of the two fisheye lenses are parallel to the horizontal direction.

[0293] In some implementations, when the load 100 is in the second posture, the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 form a third angle with the horizontal direction. This third angle is less than or equal to a third preset angle threshold, which can be flexibly set according to actual conditions and is not limited in this application. For example, as shown in Figures 10 and 11, when the panoramic camera is in the second posture, the third angle between the optical axes of the two fisheye lenses and the horizontal direction is 45 degrees.

[0294] In some implementations, when the load 100 is in the second attitude, the optical axes of the first image sensor 101 and the second image sensor 102 are parallel to the horizontal direction of the camera body 1000. For example, as shown in Figure 9 or Figure 17, when the panoramic camera is in the second attitude, the optical axes of the two fisheye lenses are parallel to the horizontal direction of the aircraft body.

[0295] In some implementations, when the load 100 is in the second posture, the optical axes of the first image sensor 101 and the second image sensor 102 are parallel to the direction of movement of the imaging device 1000. For example, when the panoramic camera is in the second posture, the optical axes of the two fisheye lenses are parallel to the flight direction of the aircraft to acquire information about the flight direction of the aircraft.

[0296] In some implementations, when the load 100 is in the second posture, the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 are parallel to the direction of interest of the imaging device 1000. The direction of interest can be the direction of the target object selected by the user, or the target direction, to acquire information about the direction of interest.

[0297] In some implementations, when the load 100 is in the second posture, the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 form a fourth angle with the horizontal direction of the camera body of the imaging device 1000. For example, this fourth angle is greater than zero and less than 90 degrees. That is, when the load 100 is in the second posture, the fourth angle between the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 and the horizontal direction of the camera body of the imaging device 1000 is within 90 degrees.

[0298] It is understandable that in the layout of the first image sensor 101 and the second image sensor 102 set in front of or behind the camera body of the shooting device 1000, or on the left and right sides of the camera body, the orientation of the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 corresponding to the first and second postures of the load 100 will change accordingly.

[0299] The rotation angle of the load 100 in a given posture can be input by the user or automatically determined by the shooting device 1000. For example, the user inputs a lever value through the physical controls of the shooting device 1000's control device, which is mapped to a rotation angle command for the load 100. The control device can be a mobile phone, tablet, computer, or other terminal device; it can also be a remote control; it can be a portable wearable device (e.g., a head-mounted wearable device (such as glasses), a wrist-worn wearable device (such as a watch, bracelet, etc.)); or it can be a server. The wearable device includes a head-mounted display device, which can include a virtual reality (VR) display device or a first-person view (FPV) display device. The physical controls of the control device include, but are not limited to, joysticks, physical buttons, or dials; this embodiment is not limited to these. Alternatively, the user can indicate a corresponding screen area on the control device's display interface, which is mapped to a rotation angle command for the load 100. Furthermore, the shooting device 1000 automatically determines the rotation angle of the load 100 to the corresponding posture based on the direction of movement (e.g., the flight direction of an aircraft), the direction of interest, or the current mode.

[0300] The imaging device 1000 in this application includes multiple different modes. For example, the imaging device 1000 includes one or more modes selected from panoramic imaging mode, FPV mode, aerial imaging mode, landing mode, takeoff mode, or storage mode. In panoramic imaging mode, the imaging device 1000 itself is not present in the panoramic image generated. The second orientation of the load 100 differs in different modes; that is, the orientation of the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 differs in different modes.

[0301] As one embodiment of this application, the panoramic cameras of the aircraft are distributed vertically, and a rotation axis drive component (such as a pitch axis drive component) is added to enable switching between multiple modes, such as panoramic shooting mode (fisheye lens optical axis vertical, dual-lens mode), FPV mode (fisheye lens optical axis horizontal, single-lens mode, single-lens image quality is also better), landing mode (fisheye lens optical axis horizontal, camera shell close to the ground), or storage mode (fisheye lens optical axis vertical). By setting the rotation axis drive component, the aircraft can use the higher-quality pixel area of ​​the fisheye lens to capture images at the main focus angle, thereby achieving better image quality.

[0302] As one embodiment of this application, the rotation axis drive assembly can be a pitch axis drive assembly, which can drive the fisheye lens to switch between different angles to enable the aircraft to switch between different modes. For example, taking the aircraft shown in Figures 4 to 7 as an example, the different modes of the aircraft can include one or more of the following modes: panoramic shooting mode, FPV mode, aerial photography mode, landing mode, takeoff mode, and storage mode, etc.

[0303] 1) Panoramic Shooting Mode (Dual Lens Mode, select manual or automatic mode to enter this mode): By adjusting the pitch angle, the panoramic camera is in its first position, causing the optical axis of the panoramic camera to switch to the vertical direction. The upper fisheye lens captures a panoramic view of the aircraft from above, and the lower fisheye lens captures a panoramic view of the aircraft from below. Both the upper and lower fisheye lenses protrude from the fuselage. The images captured by the two fisheye lenses are stitched together to obtain a 360-degree panoramic image. Furthermore, because the fuselage is elongated, it will be located in the blind spot of the stitching between the two fisheye lenses, and the fuselage will be invisible in the frame.

[0304] 2) Aerial mode or FPV mode (single-lens mode, manually or automatically select to enter this mode): By adjusting the pitch angle, the panoramic camera enters a second attitude, allowing the panoramic camera's optical axis to switch to the horizontal direction, the aircraft's flight direction, the aircraft's focus direction, or the user-selected viewpoint. In this mode, only one of the two fisheye lenses needs to work; the other can be deactivated, utilizing the best shooting area at the center of the fisheye lens to capture images and achieve better image quality. Compared to ordinary aerial mode, FPV mode is mostly purely manual, allowing for a departure from fixed camera movement and providing a more free-flowing viewpoint. It emphasizes a first-person perspective experience, allowing the operator to manually switch the display viewpoint. Furthermore, in FPV mode, the aircraft's attitude angle changes more significantly; for example, FPV mode can perform various high-difficulty maneuvers such as dives and rolls, resulting in more impactful footage.

[0305] 3) Landing mode and / or takeoff mode (automatically triggered during landing and / or takeoff or manually triggered by the user): By adjusting the pitch angle, the panoramic camera is in a second attitude, so that the orientation of the panoramic camera is switched to the non-takeoff / non-landing surface direction. For example, the optical axis of the panoramic camera is switched to the horizontal direction or the direction parallel to the landing / takeoff plane, so that the side of the panoramic camera without the fisheye lens is facing the landing / takeoff plane and protruding out of the aircraft. This avoids the curved surface of the fisheye lens hitting the landing / takeoff plane during landing and also serves to support the aircraft.

[0306] 4) Storage mode (automatic or manual trigger, lens optical axis vertical): For example, after detecting that the user has picked up the aircraft from the ground (e.g., by detecting the height off the ground), the panoramic camera is in the first attitude by adjusting the pitch angle, so that the optical axis of the panoramic camera switches to the vertical direction, so that the panoramic camera does not protrude from the nose of the aircraft, making it easier to store the panoramic camera.

[0307] For example, in panoramic shooting mode, two fisheye lenses need to work simultaneously to capture images and stitch them into a panoramic image. In other modes, such as FPV mode, descent mode, and storage mode, which are not panoramic shooting modes, the panoramic camera can switch to single-lens mode, that is, only one fisheye lens needs to be turned on to capture images, and the other fisheye lens can be turned off.

[0308] As an embodiment of this application, the solution of this application can optimize image quality in single-lens mode. For example, after switching from panoramic shooting mode to FPV mode, the in-camera processor can process the image data of only one lens. Compared with processing the image data of two lenses, more computing power can be used to adjust the image quality parameters. Compared with processing two channels of image data, the output image quality is better (such as 4K to 8K).

[0309] The angle of the second attitude of a panoramic camera can be different in different modes. For example, in FPV mode, the optical axis of the panoramic camera switches to the direction of the aircraft's flight (such as the downward tilt direction), while in landing mode, the optical axis of the panoramic camera switches to the horizontal direction. Although the panoramic camera is in the second attitude in both modes, the angle of the second attitude is different in the two modes.

[0310] For example, the switching between multiple modes by the shooting device 1000 can be performed automatically by the shooting device 1000 or manually triggered by the user. For instance, based on the load 100 being in a first posture, where the optical axis of the first image sensor 101 and the optical axis of the second image sensor 102 are parallel to the vertical direction, the shooting device 1000 automatically switches to panoramic shooting mode. As shown in Figure 18, the mode setting interface displays mode options such as panoramic shooting mode, FPV mode, aerial shooting mode, landing mode, takeoff mode, or folding mode. If the user selects the FPV mode option, the shooting device 1000 switches to FPV mode; if the user selects the panoramic shooting mode, the shooting device 1000 switches to panoramic shooting mode.

[0311] In one implementation, the orientation of the load 100 can be adjusted based on the current mode of the imaging device 1000. For example, if the user selects panoramic shooting mode, the imaging device 1000 switches to panoramic shooting mode, and the imaging device 1000 controls the rotation axis drive component 200 to adjust the angle of the load 100, such as the pitch angle, thereby adjusting the pitch angle of the load 100 to the vertical direction. This allows the optical axis of the first image sensor 101 to be oriented towards the upper side of the imaging device 1000 to capture images above the imaging device 1000, while the optical axis of the second image sensor 102 is oriented towards the lower side of the imaging device 1000 to capture images below the imaging device 1000. The images acquired by the first image sensor 101 and the second image sensor 102 can generate a panoramic image. If the user selects the FPV mode, the shooting device 1000 will exit the panoramic shooting mode and enter the FPV mode. The shooting device 1000 will control the rotation axis drive component 200 to adjust the angle of the load 100, such as the pitch angle, so as to adjust the pitch angle of the load 100 to the tilt direction. In this way, the optical axis of the first image sensor 101 can be oriented obliquely upward towards the shooting device 1000 to acquire the image in the oblique upward direction of the shooting device 1000. At this time, the second image sensor 102 can stop acquiring images and only acquire images through the first image sensor 101.

[0312] In another implementation, the current mode of the shooting device 1000 can be adjusted based on the posture of the load 100. For example, if the user controls the shooting device 1000 to adjust the angle of the load 100, such as the pitch angle, by controlling the rotation axis drive component 200, thereby adjusting the pitch angle of the load 100 to the vertical direction, the shooting device 1000 will enter a panoramic shooting mode. In this way, the optical axis of the first image sensor 101 can be oriented towards the upper side of the shooting device 1000 to capture images above the shooting device 1000, while the optical axis of the second image sensor 102 can be oriented towards the lower side of the shooting device 1000 to capture images below the shooting device 1000. The images captured by the first image sensor 101 and the second image sensor 102 can generate a panoramic image. If the user controls the shooting device 1000 to adjust the angle of the load 100, such as the pitch angle, by controlling the rotation axis drive component 200 through the control device, thereby adjusting the pitch angle of the load 100 to the tilt direction, the shooting device 1000 will enter FPV mode. In this way, the optical axis of the first image sensor 101 can be oriented obliquely upward towards the shooting device 1000 to capture images obliquely upward towards the shooting device 1000, while the second image sensor 102 can stop capturing images and only capture images through the first image sensor 101.

[0313] In this application, the memory 300 of the imaging device 1000 can be a Flash chip, a ROM (Read-Only Memory) disk, an optical disk, a USB flash drive, or a portable hard drive, etc. The memory 300 stores various computer program instructions for the processor 400 to execute.

[0314] The processor 400 and the memory 300 are connected via a bus, such as an I2C (Inter-integrated Circuit) bus. The processor 400 can be an MCU (Micro-controller Unit), a CPU (Central Processing Unit), or a DSP (Digital Signal Processor), etc.

[0315] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0316] When the rotating shaft drive assembly 200 drives the load 100 to a first posture, the first image sensor 101 is controlled to acquire a first image, the second image sensor 102 is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The field of view of the first image sensor 101 includes a first central field of view and a first edge field of view. When the load 100 is in the first posture, the first edge field of view at least covers the target field of view. When the load 100 is in the first posture, the shooting device 1000 is in panoramic shooting mode.

[0317] When the rotating shaft drive assembly 200 drives the load 100 to a second posture, it controls the first image sensor 101 to acquire a third image. The first posture is different from the second posture. When the load 100 is in the second posture, the first central field of view range at least covers the target field of view range. When the load 100 is in the second posture, the shooting device 1000 is in a non-panoramic shooting mode.

[0318] The target field of view can be the field of view corresponding to the movement direction of the shooting device 1000 (e.g., the flight direction of the aircraft), the field of view corresponding to the direction of the target object of interest selected by the user, or the field of view corresponding to the main viewpoint that the shooting device 1000 focuses on in different modes (e.g., the focus viewpoint in FPV mode is mainly the forward flight direction, and the focus viewpoint in aerial photography mode is mainly the forward flight direction or the forward downward view direction).

[0319] When the load 100 is in the first posture, the shooting device 1000 is in panoramic shooting mode; when the load 100 is in the second posture, the shooting device 1000 is in non-panoramic shooting mode. The first or second posture of the load 100 can be automatically controlled or user-controlled. Similarly, the panoramic or non-panoramic shooting mode of the shooting device 1000 can also be automatically controlled or user-controlled.

[0320] For example, processor 400 is also used for:

[0321] In response to the shooting device 1000 entering panoramic shooting mode, the control rotation axis drive component 200 drives the load 100 to a first posture. In response to the shooting device 1000 exiting panoramic shooting mode, the control rotation axis drive component 200 drives the load 100 to exit the first posture.

[0322] In other words, the mode of the shooting device 1000 is the trigger condition for adjusting the posture of the load 100. When the shooting device 1000 enters the panoramic shooting mode, it automatically adjusts the load 100 to the first posture; when the shooting device 1000 exits the panoramic shooting mode, it automatically adjusts the load 100 to exit the first posture. This eliminates the need for manual adjustment of the load 100's posture by the user, thus improving the user experience.

[0323] For example, processor 400 is also used for:

[0324] In response to the shooting device 1000 being in aerial shooting mode or FPV mode, the control rotation axis drive assembly 200 drives the load 100 to a second posture.

[0325] Among them, the aerial photography mode or FPV mode is a single-lens mode. In response to the shooting device 1000 being in aerial photography mode or FPV mode, the load 100 is automatically adjusted to a second posture. After the load 100 is in the second posture, only one of the two fisheye lenses is controlled to work, while the other stops working. The image is captured using the best shooting area at the center of the working fisheye lens, thus obtaining better image quality. Furthermore, the user does not need to manually adjust the load 100 to the second posture, thereby improving the user experience.

[0326] In one possible implementation, as shown in Figure 8, with the optical axes of the two fisheye lenses of the panoramic camera aligned vertically and the camera in its first orientation, the aircraft is in panoramic shooting mode. Each of the two fisheye lenses can capture images of 360 degrees horizontally and 180 degrees vertically, or greater than 180 degrees, above and below the aircraft, respectively, which are then stitched together to create a 360-degree horizontal and 360-degree vertical panoramic image. It is understood that for a target field of view in the direction in front of the aircraft, the edge field of view of the fisheye lens (corresponding to the edge of the fisheye lens's image) at least covers that target field of view. Furthermore, with the panoramic camera in its first orientation as shown in Figure 8, its field of view is as shown in Figures 15 and 16. Since the field of view of a single fisheye lens can exceed 180 degrees, for example, reaching 190 degrees, and the two fisheye cameras are placed back-to-back with their optical axes aligned, and the aircraft's fuselage is between the two fisheye lenses, i.e., within the blind spot of either fisheye lens, the aircraft can be "invisible" in the generated panoramic image; that is, the aircraft itself is not included in the panoramic image.

[0327] In one possible implementation, as shown in Figure 9, with the optical axes of the two fisheye lenses of the panoramic camera horizontal and the panoramic camera in a second attitude, the aircraft is in a non-panoramic shooting mode, such as aerial photography mode, landing mode, or takeoff mode. A single fisheye lens can then be used to capture images in front of the aircraft. Figure 19 is a schematic diagram of panoramic camera image quality analysis in aerial photography mode provided by an embodiment of this application. When the aircraft is performing aerial photography or close-up tracking, the target object or main point of interest captured by the panoramic camera is generally in front of the aircraft. Using the state shown in Figure 9, the area with better imaging effect of the fisheye lens can be used to capture images in the horizontal / forward direction. The image quality in the front-to-back direction of the aircraft is good, thus improving the image quality of the main point of interest. When using a fisheye lens to capture images in front of the aircraft, the central field of view of the fisheye lens (corresponding to the center of the fisheye lens's image) at least covers the target field of view (corresponding to the field of view in front of the aircraft). Because the image quality of the central field of view of a fisheye lens is superior to that of the edge field of view, the image quality of the target field of view captured by the fisheye lens in the second attitude is higher than that in the first attitude. Therefore, the second attitude can improve the image quality of the image captured in front of the aircraft compared to the first attitude. Alternatively, in landing mode, the fisheye lens can be switched to a non-ground orientation to avoid the fisheye lens being damaged by the landing surface when the aircraft lands.

[0328] In one possible implementation, as shown in Figure 10, the optical axes of the two fisheye lenses of the panoramic camera form an angle with the horizontal direction. With the panoramic camera in its second attitude, the aircraft is in a non-panoramic shooting mode, such as FPV mode. The fisheye lenses can be used to capture images of the front / upper part of the aircraft from an upward angle (for example, when the aircraft is flying forward, its nose is lower than its tail, and the fuselage is in a forward-lower-rear-high state; therefore, when the aircraft is flying forward, the fisheye lens facing upwards at an angle can capture information about the front of the aircraft). Figure 20 is a schematic diagram of panoramic camera image quality analysis in FPV mode provided by an embodiment of this application. The aircraft's fuselage is tilted forward by approximately 45 degrees, in a high-angle, high-speed flight state, which is a common flight attitude for FPV aircraft. With the panoramic camera in its second attitude, the aircraft is in FPV mode. The target object captured by the panoramic camera is generally in the direction of the aircraft's flight, that is, in the forward-upper direction of the aircraft's fuselage. Using the state shown in Figure 10, the pixel area with better imaging effect of the fisheye lens can be used to capture images in the forward-upper direction of the fuselage, thus capturing images of the aircraft's main point of interest from an upward angle, thereby improving the image quality of the main point of interest. Using a fisheye lens to capture images of the aircraft's main field of view in the forward and upward direction (flight direction), the central field of view of the fisheye lens (corresponding to the center of the image) at least covers the target field of view (corresponding to the field of view in the flight direction). Since the image quality corresponding to the central field of view of the fisheye lens is better than that corresponding to the edge field of view, the image quality of the target field of view captured by the fisheye lens in the second attitude is higher than that of the image captured by the fisheye lens in the first attitude. Therefore, the second attitude can improve the image quality of the captured images in the aircraft's flight direction compared to the first attitude.

[0329] In one possible implementation, as shown in Figure 11, with the optical axes of the two fisheye lenses of the panoramic camera at an angle to the horizontal direction, and the panoramic camera in a second attitude, the aircraft is in a non-panoramic shooting mode, such as aerial photography mode. The fisheye lenses can be used to capture images from above / below the aircraft, utilizing the area with better imaging effect from the fisheye lens to improve the image quality of the main focus viewpoint. Figure 21 is a schematic diagram of panoramic camera image quality analysis in aerial photography mode provided by an embodiment of this application. When shooting in aerial photography mode, due to the high flight altitude of the aircraft, the target object or main focus viewpoint captured by the panoramic camera is generally located below and in front of the aircraft. Using the attitude shown in Figure 11, the pixel area with better imaging effect from the fisheye lens can be used to capture images of the aircraft diagonally downwards, thus pitching the image of the aircraft's main focus viewpoint and improving the image quality in the diagonally downward direction. When using the fisheye lens to capture images below and in front of the aircraft, the central field of view of the fisheye lens (corresponding to the center of the fisheye lens's image) at least covers the target field of view (corresponding to the field of view below and in front of the aircraft). Since the image quality corresponding to the central field of view of the fisheye lens is better than that corresponding to the edge field of view, the image quality of the target field of view captured by the fisheye lens in the second attitude is higher than that of the target field of view captured by the fisheye lens in the first attitude. Therefore, the second attitude can improve the image quality of the image captured from the front and lower part of the aircraft compared to the first attitude.

[0330] In summary, the aircraft can flexibly adjust the orientation of the panoramic camera using the pitch axis gimbal, allowing the aircraft to capture images using pixel areas with better image quality, thereby improving the image quality of the captured images.

[0331] In addition, by setting up a rotating shaft drive assembly, the problem of preventing the fisheye lens from hitting the ground during the landing phase of the aircraft can also be solved.

[0332] For example, controlling the first image sensor 101 to acquire a third image includes: controlling the first image sensor 101 to acquire a third image in the direction of movement of the imaging device 1000, or controlling the first image sensor 101 to acquire a third image in the direction of interest.

[0333] The direction of movement of the shooting device 1000 can be, for example, the flight direction of an aircraft. The direction of interest can be a user-specified direction, such as the direction of the target object or the target direction selected by the user. For example, the user can indicate the direction of interest using controls such as a joystick, physical buttons, or dials on the control device. Alternatively, the user can indicate the direction of interest through the display interface of the control device. This application does not impose specific limitations on this.

[0334] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0335] When the rotating shaft drive assembly 200 drives the load 100 to a first posture, the first image sensor 101 is controlled to acquire a first image, the second image sensor 102 is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. When the load 100 is in the first posture, the shooting device 1000 is in panoramic shooting mode.

[0336] When the rotating shaft drive assembly 200 drives the load 100 to a second posture, it controls the first image sensor 101 to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor 101 when the load 100 is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor 101 when the load is in the first posture. When the load 100 is in the second posture, the shooting device 1000 is in a non-panoramic shooting mode.

[0337] The relevant descriptions and implementation methods can be found in the relevant sections of the foregoing embodiments, and will not be repeated here.

[0338] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0339] When the rotating shaft drive assembly 200 drives the load 100 to a first posture, the first image sensor 101 is controlled to acquire a first image, the second image sensor 102 is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The first image sensor 101 includes a center pixel area and an edge pixel area. When the load 100 is in the first posture, the shooting device 1000 is in a panoramic shooting mode.

[0340] When the rotating axis drive assembly 200 drives the load 100 to a second posture, it controls the first image sensor 101 to acquire a third image. The first posture and the second posture are different. When the load 100 is in the second posture, the first image sensor 101 uses the center pixel area to acquire the image in the target direction. When the load 100 is in the first posture, the first image sensor 101 uses the edge pixel area to acquire the image in the target direction. When the load 100 is in the second posture, the shooting device 1000 is in a non-panoramic shooting mode.

[0341] Each image sensor includes a central pixel region and an edge pixel region. The central pixel region corresponds to the central field of view (e.g., the center of the image in a fisheye lens), and the edge pixel region corresponds to the edge field of view (e.g., the edge of the image in a fisheye lens). Specific descriptions and implementation methods can be found in the relevant sections of the foregoing embodiments, and will not be repeated here.

[0342] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0343] When the rotating shaft drive assembly 200 drives the load 100 to a first posture, it controls the first image sensor 101 to acquire a first image, controls the second image sensor 102 to acquire a second image, and generates a panoramic image based on the first image and the second image.

[0344] When the rotating shaft drive assembly 200 drives the load 100 to a second posture, it controls the first image sensor 101 to acquire a third image and controls the second image sensor 102 to stop acquiring images, wherein the first posture and the second posture are different.

[0345] For example, when the panoramic camera is in the second attitude (as shown in Figures 9 to 11), the aircraft is in a non-panoramic shooting mode. The rear fisheye lens's field of view is blocked by the aircraft's fuselage. The rear fisheye lens can be turned off, ceasing image acquisition. This means the panoramic camera is in single-lens mode, concentrating all its image processing power on the front fisheye lens. This reduces computational overhead. Compared to processing image data from two fisheye lenses, more computing power can be used for image quality tuning, improving the final output image quality of a single fisheye lens and further enhancing overall image quality. Furthermore, since video editing for aircraft is complex, requiring the extraction of the desired square frame from the spherical panoramic view, if the aircraft always records all image information from both fisheye lenses simultaneously when shooting aerial or FPV scenarios, a large amount of redundant image information is generated, increasing the difficulty of post-processing and editing. Therefore, in non-panoramic shooting mode, using only one fisheye lens to acquire images provides footage similar to aerial shots, facilitating post-editing and saving on the amount of footage captured.

[0346] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0347] When the rotating shaft drive assembly 200 drives the load 100 to a first posture, the first image sensor 101 is controlled to acquire a first image, the second image sensor 102 is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device 1000 itself. When the load 100 is in the first posture, the shooting device 1000 is in panoramic shooting mode.

[0348] When the rotating axis drive assembly 200 drives the load 100 to a second posture, it controls the first image sensor 101 to acquire a third image of the moving direction of the shooting device 1000. The first posture and the second posture are different. When the load 100 is in the second posture, the shooting device 1000 is in a non-panoramic shooting mode.

[0349] The relevant descriptions and implementation methods can be found in the relevant sections of the foregoing embodiments, and will not be repeated here.

[0350] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0351] When the rotating shaft drive assembly 200 drives the load 100 to a first posture, the first image sensor 101 is controlled to acquire a first image, the second image sensor 102 is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device 1000 itself. When the load 100 is in the first posture, the shooting device 1000 is in panoramic shooting mode.

[0352] When the rotating axis drive assembly 200 drives the load 100 to a second posture, it controls the first image sensor 101 to acquire a third image of the shooting device 1000 in the direction of interest. The first posture and the second posture are different. When the load 1000 is in the second posture, the shooting device 1000 is in a non-panoramic shooting mode.

[0353] The relevant descriptions and implementation methods can be found in the relevant sections of the foregoing embodiments, and will not be repeated here.

[0354] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0355] When the rotating shaft drive assembly 200 drives the load 100 to a first posture, it controls the first image sensor 101 to acquire a first image, controls the second image sensor 102 to acquire a second image, and generates a panoramic image based on the first image and the second image.

[0356] When the rotary axis drive assembly 200 drives the load 100 out of the first posture, it controls the first image sensor 101 to acquire the third image and controls the second image sensor 102 to stop acquiring images.

[0357] The exit of load 100 from the first posture can be in the second posture or in any other posture other than the first and second postures; this application does not limit this. When load 100 exits the first posture, load 100 is in single-lens mode. For specific descriptions and implementation methods, please refer to the relevant parts of the foregoing embodiments, which will not be repeated here.

[0358] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0359] When the rotating shaft drive assembly 200 drives the load 100 to be in the first posture, the shooting device 1000 is controlled to enter the panoramic shooting mode. In the panoramic shooting mode, the first image sensor 101 is used to acquire the first image, the second image sensor 102 is used to acquire the second image, and the first image and the second image are used to generate a panoramic image.

[0360] When the rotating shaft drive assembly 200 drives the load 100 to exit the first posture, the shooting device 1000 is controlled to exit the panoramic shooting mode. Controlling the shooting device 1000 to exit the panoramic shooting mode includes controlling the first image sensor 101 to acquire a third image and controlling the second image sensor 102 to stop acquiring images.

[0361] In other words, based on the current attitude of the payload 100, the shooting device 1000 can be controlled to automatically switch modes. The attitude of the payload 100 is the trigger condition for mode switching. This can be achieved by the user adjusting the attitude of the payload 100. After the payload 100 is adjusted to the first attitude, the shooting device 1000 is automatically controlled to enter panoramic shooting mode; conversely, after the payload 100 is adjusted to leave the first attitude, the shooting device 1000 is automatically controlled to leave panoramic shooting mode. For example, when the panoramic camera is in the first attitude, the aircraft is controlled to enter panoramic shooting mode; when the panoramic camera is in the second attitude, the aircraft is controlled to enter non-panoramic shooting mode. Therefore, this eliminates the need for manual mode switching by the user, thereby improving the user experience.

[0362] The relevant descriptions and implementation methods involved can be found in the relevant parts of the foregoing embodiments, and will not be repeated here.

[0363] In some embodiments, at least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0364] In response to the shooting device 1000 entering the panoramic shooting mode, the rotating axis drive assembly 200 is controlled to drive the load 100 to a first posture, and the first image sensor 101 is controlled to acquire a first image, the second image sensor 102 is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image.

[0365] In response to the shooting device 1000 exiting the panoramic shooting mode, the rotation axis drive assembly 200 is controlled to drive the load 100 to exit the first posture, the first image sensor 101 is controlled to acquire the third image, and the second image sensor 102 is controlled to stop acquiring images.

[0366] In other words, based on the current mode of the shooting device 1000, the attitude of the payload 100 can be automatically adjusted. The mode of the shooting device 1000 is the trigger condition for attitude adjustment. This can be triggered by the user operating the shooting device 1000 to enter panoramic shooting mode, automatically adjusting the payload 100 to the first attitude, and then performing the corresponding shooting operation after the payload 1000 is in the first attitude. Similarly, it can be triggered by the shooting device 1000 exiting panoramic shooting mode, automatically adjusting the payload 100 to exit the first attitude, and then performing the corresponding shooting operation after the payload 1000 has exited the first attitude. For example, when the aircraft enters panoramic shooting mode, the pitch angle of the panoramic camera's fisheye lens is automatically adjusted to bring the panoramic camera to the first attitude; when the aircraft exits panoramic shooting mode, the pitch angle of the panoramic camera's fisheye lens is automatically adjusted to bring the panoramic camera out of the first attitude. Therefore, this eliminates the need for the user to manually adjust the attitude of the payload 100, thereby improving the user experience.

[0367] The relevant descriptions and implementation methods involved can be found in the relevant parts of the foregoing embodiments, and will not be repeated here.

[0368] In some embodiments, the processor 400 is further configured to:

[0369] In response to the shooting device 1000 being in the take-off or landing phase, the control rotation axis drive assembly 200 drives the load 100 to a second attitude.

[0370] Since the shooting device 1000 needs to avoid capturing itself during shooting, the fisheye lens needs to protrude beyond the shooting device 1000. As shown in Figure 6, the upper fisheye lens 101 protrudes from the upper part of the aircraft, and the lower fisheye lens 102 protrudes from the lower part of the aircraft to ensure that the aircraft's fuselage is not included in the frame when shooting a panoramic view. Based on this, the shooting device 1000 may encounter the problem of the fisheye lens hitting the ground upon landing during descent. However, in this embodiment, during the takeoff or landing phase of the shooting device 1000, the attitude of the load 100 can be adjusted using the rotary shaft drive assembly 200 to place the load 100 in a second attitude, thereby switching the fisheye lens to an orientation that is not close to the takeoff / landing surface, avoiding the problem of the fisheye lens being hit by the landing surface. For example, Figure 22 shows a schematic diagram of an aircraft landing on the ground according to this application. The aircraft can take off and land in the state shown in Figure 22, where the fisheye lens is not at the lowest point of the fuselage, thus avoiding the fisheye lens being hit by the takeoff or landing surface.

[0371] For example, to prevent the camera from having a horizontal velocity component when it lands on the ground due to wind or external interference, causing the lens to be driven by external force and pointing towards the ground, a limiting angle will be added to the pitch angle of the rotation axis drive assembly 200, thereby preventing the lens from hitting the ground due to excessive pitch angle adjustment.

[0372] In some embodiments, the processor 400 is further configured to:

[0373] In response to the shooting device 1000 being in storage mode, the control rotation axis drive assembly 200 drives the load 100 to a first posture, and controls the first image sensor 101 and the second image sensor 102 to stop working.

[0374] For example, the storage mode is determined based on the height of the shooting device 1000 above the ground. For instance, in response to detecting that the shooting device 1000's height above the ground has reached a preset height threshold, the shooting device 1000 is controlled to enter the storage mode. The preset height threshold can be flexibly set according to actual conditions, and this application does not limit it.

[0375] When the shooting device 1000 is in retractable mode, the load 100 is adjusted to a first attitude, and the two fisheye lenses protruding from the fuselage are switched to a vertical position for better retraction. In retractable mode, the first image sensor 101 and the second image sensor 102 are controlled to stop operating. For example, in response to the aircraft being in retractable mode, the panoramic camera is adjusted to the first attitude shown in Figure 8, and the two fisheye lenses protruding from the fuselage are switched to a vertical position for better retraction.

[0376] In some embodiments, as shown in FIG23, the imaging device 1000 further includes a visual sensor 500, which is used to collect environmental information around the imaging device 1000. Based on the collected environmental information, the visual sensor 500 can be used to assist the imaging device 1000 in obstacle avoidance and / or positioning.

[0377] For example, the vision sensor 500 includes a binocular vision sensor, which comprises a first vision sensor and a second vision sensor. For instance, the vision sensor 500 may include a pair of fisheye lenses with parallel optical axes. In other possible implementations, the vision sensor 500 may also be other types of cameras, which are not limited in this application.

[0378] For example, the vision sensor 500 is disposed at the head of the shooting device 1000. In other possible implementations, the vision sensor 500 may also be disposed at the tail or side of the shooting device 1000, which is not limited in this application.

[0379] For example, Figures 24 to 26 are schematic diagrams of a visual sensor 500 on an aircraft provided in an embodiment of this application. The visual sensor 500 can be arranged in the space between the nose and the nose rotor of the aircraft for visual obstacle avoidance and visual positioning in front of and / or below the aircraft fuselage. In other possible implementations, the visual sensor 500 can also be located on the nose, rotor guard, landing gear, or other parts of the aircraft.

[0380] It is understandable. For aircraft, the head is the nose of the aircraft. For other types of shooting equipment, the head is different. For example, for a mobile vehicle, the head is the front of the mobile vehicle.

[0381] For example, the visual sensor 500 can acquire environmental information in front of and / or below the imaging device 1000. For instance, when the optical axis of the visual sensor 500 is facing forward, it can acquire environmental information in front of the aircraft. When the optical axis of the visual sensor 500 is facing downward, it can acquire environmental information below the aircraft. When the optical axis of the visual sensor 500 is angled downward, it can acquire environmental information in both front of and below the aircraft.

[0382] For example, the visual sensor 500 is tilted at the head of the imaging device 1000, for instance, the visual sensor 500 is tilted downwards at the head of the imaging device 1000 so that it can simultaneously collect environmental information in front of and below the imaging device 1000 (such as an aircraft). In other possible implementations, the visual sensor 500 may also be tilted upwards at the head of the imaging device 1000, which is not limited in this application.

[0383] The imaging device 1000 in this embodiment can acquire 360-degree panoramic images of its surroundings via the load 100. Therefore, if a user wants to view images from different directions of the imaging device 1000, the device does not need to be turned to obtain the corresponding image. Based on this, the user only needs to focus on the environmental information in front of and below the imaging device 1000 to avoid collisions. With the visual sensor 500 tilted downwards at the head of the imaging device 1000, its optical axis points downwards. The visual sensor 500 can simultaneously acquire environmental information in front of and below the imaging device 1000 to assist in obstacle avoidance and / or positioning. This configuration saves on the number of sensors, improves sensor utilization, and reduces material costs, size, and weight of the imaging device 1000.

[0384] For example, the optical axis of the visual sensor 500 forms a predetermined angle with the horizontal direction of the imaging device 1000. This angle is greater than or equal to 30 degrees and less than or equal to 60 degrees. For instance, taking the visual sensor 500 on the aircraft shown in Figures 24 to 26 as an example, the visual sensor 500 is a fisheye lens, and the angle between the optical axis of the fisheye lens and the horizontal direction of the aircraft fuselage can be, for example, 45 degrees (the optical axis of the fisheye lens points forward and downward). Depending on different obstacle avoidance requirements, this angle can also be designed to be any angle within the range of 0 degrees to 90 degrees, and this application does not limit it in this way.

[0385] For example, the field of view of the visual sensor 500 is greater than or equal to 180 degrees. Of course, the field of view of the visual sensor 500 can also be a wide-angle range less than 180 degrees. For instance, when the angle between the optical axis of the visual sensor 500 and the horizontal direction is -45 degrees, and the field of view of the visual sensor 500 reaches 180 degrees, the vertical field of view coverage of the visual sensor 500 is +45 degrees to -135 degrees. Therefore, the visual sensor 500 can simultaneously acquire environmental information in the forward and downward directions of the imaging device 1000 to assist the imaging device 1000 in obstacle avoidance and / or positioning.

[0386] For example, the vision sensor 500 may include a pair of fisheye cameras with parallel optical axes. The angle between the optical axes and the horizontal direction of the camera body can be, for example, -45° (the negative sign indicates that the fisheye optical axis is pointing forward and downward; depending on different obstacle avoidance requirements, it can also be designed to be any angle within the range of 0 to -90°). The FOV of the fisheye camera lens can be, for example, greater than 180°. In this case, the vertical field of view coverage of the binocular vision sensor is +45 to -135°. Of course, the FOV of the vision sensor can also be a wide-angle range of less than 180°.

[0387] Please refer to Figure 27, which is a schematic block diagram of a shooting device provided in an embodiment of this application. As shown in Figure 27, the shooting device 1000 includes a body 600, a load 100, a single-axis drive assembly 201, one or more memories 300, and one or more processors 400. In other possible implementations, the shooting device 1000 includes the single-axis drive assembly 201, one or more memories 300, and one or more processors 400, and the shooting device 1000 can be equipped with the load 100. Alternatively, the shooting device 1000 includes one or more memories 300, one or more processors 400, and the shooting device 1000 can be equipped with the load 100 and the single-axis drive assembly 201. This application does not limit the structure of the shooting device 1000.

[0388] The load 100 includes at least a first image sensor 101 and a second image sensor 102, as described in the foregoing embodiments, and will not be repeated here. The single-axis drive assembly 201 includes a pitch axis drive assembly, one end of which is connected to the load 100 and used to drive the load 100 to rotate about the pitch axis. In other possible implementations, the single-axis drive assembly 201 can also be other rotary axis drive assemblies, such as a roll axis drive assembly, which is not limited in this application.

[0389] At least one processor 400 invokes computer program instructions stored in memory 300 to perform the following operations:

[0390] When the pitch axis drive assembly drives the load 100 in a first attitude, it controls the first image sensor to acquire a first image above the shooting device 1000, controls the second image sensor 102 to acquire a second image below the shooting device, and generates a panoramic image based on the first and second images, wherein the shooting device 1000 itself is not in the panoramic image.

[0391] The relevant descriptions and implementation methods can be found in the relevant sections of the foregoing embodiments, and will not be repeated here.

[0392] The above embodiments illustrate the use of a shooting device including a load and a rotation axis drive assembly (e.g., a pitch axis drive assembly). In other possible embodiments, the load and / or rotation axis drive assembly (e.g., a pitch axis drive assembly) may not be part of the shooting device, but rather detachably connected to it via a connection method. This connection method can be a quick-release connection, such as magnetic, snap-fit, or screw connection, but is not limited to these methods. In one possible implementation, the load is not part of the shooting device, but is connected to it via some connection method, while the rotation axis drive assembly is part of the shooting device. For example, the shooting device may or may not have a load installed. When a load is installed, the rotation axis drive assembly drives the load to achieve attitude adjustment, thereby realizing the function described in the above embodiments. In another possible implementation, the load and rotation axis drive assembly are not part of the shooting device, but are connected to it via some connection method. For example, the shooting device may or may not have a load and rotation axis drive assembly installed. When a load and rotation axis drive assembly are installed, the rotation axis drive assembly drives the load via some communication interface to achieve attitude adjustment, thereby realizing the function described in the above embodiments.

[0393] Please refer to Figure 28, which is a schematic flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, to the control device of the shooting device, or to a system composed of the shooting device and the control device. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0394] As shown in Figure 28, the control method of the shooting device specifically includes steps S101 and S102.

[0395] S101. When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The load includes at least a first image sensor and a second image sensor. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0396] S102. When the rotating shaft drive assembly drives the load to be in the second posture, control the first image sensor to acquire the third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0397] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0398] Please refer to Figure 29, which is a flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, to the control device of the shooting device, or to a system composed of the shooting device and the control device. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0399] As shown in Figure 29, the control method of the shooting device specifically includes steps S201 and S202.

[0400] S201. When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture.

[0401] S202. When the rotating shaft drive assembly drives the load to a second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0402] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0403] Please refer to Figure 30, which is a flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, to the control device of the shooting device, or to a system composed of the shooting device and the control device. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0404] As shown in Figure 30, the control method of the shooting device specifically includes steps S301 and S302.

[0405] S301. When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The load includes at least a first image sensor and a second image sensor. The first image sensor includes a center pixel area and an edge pixel area. When the load is in the first posture, the shooting device is in a panoramic shooting mode.

[0406] S302. When the rotating shaft drive assembly drives the load to a second posture, control the first image sensor to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0407] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0408] Please refer to Figure 31, which is a schematic flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, to the control device of the shooting device, or to a system composed of the shooting device and the control device. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0409] As shown in Figure 31, the control method of the shooting device specifically includes steps S401 and S402.

[0410] S401. When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the load includes at least the first image sensor and the second image sensor.

[0411] S402. When the rotating shaft drive assembly drives the load to a second posture, control the first image sensor to acquire a third image and control the second image sensor to stop acquiring images, wherein the first posture and the second posture are different.

[0412] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0413] Please refer to Figure 32, which is a schematic flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, to the control device of the shooting device, or to a system composed of the shooting device and the control device. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0414] As shown in Figure 32, the control method of the shooting device specifically includes steps S501 and S502.

[0415] S501. When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The load includes at least the first image sensor and the second image sensor. The panoramic image does not include the shooting device itself. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0416] S502. When the rotating shaft drive assembly drives the load to be in the second posture, control the first image sensor to acquire a third image in the direction of movement of the shooting device. The first posture and the second posture are different. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0417] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0418] Please refer to Figure 33, which is a flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, its control device, or a system composed of both. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0419] As shown in Figure 33, the control method of the shooting device specifically includes steps S601 and S602.

[0420] S601. When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The load includes at least the first image sensor and the second image sensor. The panoramic image does not include the shooting device itself. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0421] S602. When the rotating shaft drive assembly drives the load to be in the second posture, control the first image sensor to acquire a third image of the shooting device in the direction of interest. The first posture and the second posture are different. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0422] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0423] Please refer to Figure 34, which is a schematic flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, its control device, or a system composed of both. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0424] As shown in Figure 34, the control method of the shooting device specifically includes steps S701 and S702.

[0425] S701. When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the load includes at least the first image sensor and the second image sensor.

[0426] S702. When the rotating shaft drive assembly drives the load to exit the first posture, control the first image sensor to acquire the third image and control the second image sensor to stop acquiring images.

[0427] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0428] Please refer to Figure 35, which is a flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, to the control device of the shooting device, or to a system composed of the shooting device and the control device. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0429] As shown in Figure 35, the control method of the shooting device specifically includes steps S801 and S802.

[0430] S801. When the rotating shaft drive assembly drives the load to a first posture, control the shooting device to enter the panoramic shooting mode. In the panoramic shooting mode, the first image sensor of the load is used to acquire a first image, the second image sensor of the load is used to acquire a second image, and the first image and the second image are used to generate a panoramic image. The load includes at least a first image sensor and a second image sensor.

[0431] S802. When the rotating shaft drive assembly drives the load to exit the first posture, control the shooting device to exit the panoramic shooting mode. Controlling the shooting device to exit the panoramic shooting mode includes controlling the first image sensor to acquire the third image and controlling the second image sensor to stop acquiring images.

[0432] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0433] Please refer to Figure 36, which is a schematic flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, to the control device of the shooting device, or to a system composed of the shooting device and the control device. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0434] As shown in Figure 36, the control method of the shooting device specifically includes steps S901 and S902.

[0435] S901, In response to the shooting device entering the panoramic shooting mode, control the rotation axis drive assembly to drive the load in a first posture, control the first image sensor of the load to acquire a first image, control the second image sensor of the load to acquire a second image, and generate a panoramic image based on the first image and the second image.

[0436] S902, in response to the shooting device exiting the panoramic shooting mode, controls the rotation axis drive component to drive the load out of the first posture, controls the first image sensor to acquire the third image and controls the second image sensor to stop acquiring images.

[0437] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0438] Please refer to Figure 37, which is a schematic flowchart illustrating a control method for a shooting device according to an embodiment of this application. This control method can be applied to the shooting device itself, to the control device of the shooting device, or to a system composed of the shooting device and the control device. Some steps are executed by the control device, and some steps are executed by the shooting device; this application does not impose any limitations on this method.

[0439] As shown in Figure 37, the control method of the shooting device specifically includes steps S1001 and S1002.

[0440] S1001. When the pitch axis drive assembly drives the load to a first attitude, the first image sensor of the load is controlled to acquire a first image above the shooting device, and the second image sensor of the load is controlled to acquire a second image below the shooting device.

[0441] S1002. Generate a panoramic image based on the first image and the second image. The panoramic image does not contain the shooting device itself. The load includes at least the first image sensor and the second image sensor. The pitch axis drive assembly is used to drive the load to rotate around the pitch axis.

[0442] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant parts of the foregoing shooting device embodiments, and will not be repeated here.

[0443] Please refer to Figure 38, which is a schematic block diagram of the control device of a shooting device provided in an embodiment of this application.

[0444] As shown in Figure 38, the control device 700 of the shooting device may include at least one processor 710 and at least one memory 720 including a computer program. The processor 710 and the memory 720 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

[0445] Specifically, the processor 710 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0446] Specifically, the memory 720 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc. The memory 720 stores various computer programs for the processor 710 to execute.

[0447] In this embodiment, at least one processor 710 is configured to enable the control device 700 to execute a computer program and, when executing the computer program, to perform the following steps:

[0448] When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0449] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0450] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0451] When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture;

[0452] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0453] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0454] When the rotating axis drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The load includes at least the first image sensor and the second image sensor. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in panoramic shooting mode.

[0455] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0456] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0457] When the rotating shaft drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image, wherein the load includes at least the first image sensor and the second image sensor;

[0458] When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

[0459] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0460] When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor, the panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0461] When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0462] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0463] When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor, the panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture.

[0464] When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

[0465] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0466] When the rotating shaft drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image, wherein the load includes at least the first image sensor and the second image sensor;

[0467] When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0468] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0469] When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor of the load is used to acquire a first image, and the second image sensor of the load is used to acquire a second image. The first image and the second image are used to generate a panoramic image. The load includes at least the first image sensor and the second image sensor.

[0470] When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

[0471] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0472] In response to the shooting device entering the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load in a first posture, and the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image;

[0473] In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

[0474] In some embodiments, the optical axes of the first image sensor and the second image sensor are parallel to each other, and the main sensing direction of the first image sensor and the main sensing direction of the second image sensor are opposite.

[0475] In some embodiments, the optical axis of the first image sensor and the optical axis of the second image sensor are collinear.

[0476] In some embodiments, the field of view of the first image sensor is greater than or equal to 180 degrees, the field of view of the second image sensor is greater than or equal to 180 degrees, and the panoramic image includes a 360-degree panorama.

[0477] In some embodiments, when the load is in the first posture, the first image sensor is used to acquire an image above the shooting device and the second image sensor is used to acquire an image below the shooting device, or the first image sensor is used to acquire an image below the shooting device and the second image sensor is used to acquire an image above the shooting device.

[0478] In some embodiments, the vertical field of view of the first image sensor is greater than or equal to 180 degrees and the horizontal field of view is greater than or equal to 360 degrees, the vertical field of view of the second image sensor is greater than or equal to 180 degrees and the horizontal field of view is greater than or equal to 360 degrees, and the panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama.

[0479] In some embodiments, the first image sensor is used to acquire an image to the left of the shooting device and the second image sensor is used to acquire an image to the right of the shooting device; or, the first image sensor is used to acquire an image to the right of the shooting device and the second image sensor is used to acquire an image to the left of the shooting device; or, the first image sensor is used to acquire an image in front of the shooting device and the second image sensor is used to acquire an image behind the shooting device; or, the first image sensor is used to acquire an image behind the shooting device and the second image sensor is used to acquire an image in front of the shooting device.

[0480] In some embodiments, the horizontal field of view of the first image sensor is greater than or equal to 180 degrees and the vertical field of view is greater than or equal to 360 degrees, the horizontal field of view of the second image sensor is greater than or equal to 180 degrees and the vertical field of view is greater than or equal to 360 degrees, and the panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama.

[0481] In some embodiments, both the first image sensor and the second image sensor are fisheye lenses.

[0482] In some embodiments, controlling the first image sensor to acquire a third image includes: controlling the first image sensor to acquire a third image in the direction of movement of the shooting device, or controlling the first image sensor to acquire a third image in the direction of interest of the shooting device.

[0483] In some embodiments, the rotation axis drive assembly includes a pitch axis drive assembly.

[0484] In some embodiments, when the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor are approximately vertical.

[0485] In some embodiments, when the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a first angle with the vertical direction.

[0486] In some embodiments, the first included angle is less than or equal to a first preset angle threshold.

[0487] In some embodiments, when the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor are parallel to the vertical direction of the body of the shooting device.

[0488] In some embodiments, when the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a second angle with the vertical direction of the body of the shooting device.

[0489] In some embodiments, the second included angle is less than or equal to a second preset angle threshold.

[0490] In some embodiments, when the load is in the second posture, the optical axes of the first image sensor and the second image sensor are approximately horizontal.

[0491] In some embodiments, when the load is in the second posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a third angle with the horizontal direction.

[0492] In some embodiments, the third included angle is less than or equal to a third preset angle threshold.

[0493] In some embodiments, when the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the horizontal direction of the body of the shooting device.

[0494] In some embodiments, when the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the direction of movement of the imaging device.

[0495] In some embodiments, when the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the direction of interest of the imaging device.

[0496] In some embodiments, when the load is in the second posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a fourth angle with the horizontal direction of the body of the shooting device.

[0497] In some embodiments, the fourth included angle is an angle greater than zero and less than 90 degrees.

[0498] In some embodiments, the processor 710 is further configured to:

[0499] In response to the shooting device entering panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to the first posture.

[0500] In some embodiments, the processor 710 is further configured to:

[0501] In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture.

[0502] In some embodiments, the processor 710 is further configured to:

[0503] In response to the shooting device being in the take-off or landing phase, the rotation axis drive assembly is controlled to drive the load into a second attitude.

[0504] In some embodiments, the processor 710 is further configured to:

[0505] In response to the shooting device being in aerial shooting mode or FPV mode, the rotating axis drive assembly is controlled to drive the load into a second posture.

[0506] In some embodiments, the processor 710 is further configured to:

[0507] In response to the shooting device being in storage mode, the rotation axis drive assembly is controlled to drive the load in the first posture, and the first image sensor and the second image sensor are controlled to stop working.

[0508] In some embodiments, the storage mode is determined based on the height of the shooting device above the ground.

[0509] In some embodiments, the rotation axis drive assembly drives the load to rotate at an angle within a preset range.

[0510] In some embodiments, the shooting device includes multiple different modes, and the corresponding second posture is different in different modes.

[0511] In some embodiments, the rotation axis of the rotary shaft drive assembly passes through the center of the load, or the rotation axis of the rotary shaft drive assembly is offset from the center of the load.

[0512] In some embodiments, the rotation axis drive assembly is disposed on the head of the shooting device.

[0513] In some embodiments, the shooting device includes one or more modes selected from panoramic shooting mode, FPV mode, aerial shooting mode, landing mode, take-off mode, or storage mode.

[0514] In some embodiments, the switching between the multiple modes by the shooting device is performed automatically by the shooting device or manually triggered by the user.

[0515] In some embodiments, the capturing device itself is not present in the panoramic image.

[0516] In some embodiments, the imaging device further includes a visual sensor for acquiring environmental information surrounding the imaging device.

[0517] In some embodiments, the vision sensor includes a binocular vision sensor, which includes a first vision sensor and a second vision sensor.

[0518] In some embodiments, the visual sensor is disposed on the head of the imaging device.

[0519] In some embodiments, the visual sensor can acquire environmental information in front of and / or below the imaging device.

[0520] In some embodiments, the visual sensor is tilted and positioned at the head of the imaging device.

[0521] In some embodiments, the visual sensor is tilted downwards and positioned at the head of the imaging device.

[0522] In some embodiments, the visual sensor can simultaneously acquire environmental information in front of and below the imaging device.

[0523] In some embodiments, the optical axis of the visual sensor is at a set angle to the horizontal direction of the camera body.

[0524] In some embodiments, the angle is greater than or equal to 30 degrees and less than or equal to 60 degrees.

[0525] In some embodiments, the field of view of the visual sensor is greater than or equal to 180 degrees.

[0526] In some embodiments, the visual sensor is used to assist the imaging device in obstacle avoidance and / or positioning.

[0527] In some embodiments, the shooting device includes a movable platform or a panoramic camera.

[0528] In some embodiments, the mobile platform includes an aircraft, a mobile robot, a mobile vehicle, a boat, or a handheld product.

[0529] In some embodiments, at least one processor 710 is configured to cause the control device 700 to at least execute a computer program and, when executing the computer program, perform the following steps:

[0530] When the load is driven by the pitch axis drive assembly to a first attitude, the first image sensor of the load is controlled to acquire a first image above the shooting device, the second image sensor of the load is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image. The shooting device itself is not in the panoramic image. The load includes at least the first image sensor and the second image sensor, and the pitch axis drive assembly is used to drive the load to rotate about the pitch axis.

[0531] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant introductions in the foregoing imaging device embodiments, and will not be repeated here.

[0532] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the control method for the shooting device provided in the embodiments of this application.

[0533] The computer-readable storage medium may be an internal storage unit of the control device, mobile platform, or control equipment described in the foregoing embodiments, such as a hard disk or memory of the control device, mobile platform, or control equipment. The computer-readable storage medium may also be an external storage device of the control device, mobile platform, or control equipment, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the control device, mobile platform, or control equipment.

[0534] The relevant descriptions and implementation methods in the embodiments of this application can be found in the relevant introductions in the foregoing method embodiments, and will not be repeated here.

[0535] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven to a first posture by the rotating shaft drive assembly, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

2. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture; When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

3. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating axis drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in a panoramic shooting mode. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

4. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

5. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

6. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture. When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

7. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

8. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor is used to acquire a first image, the second image sensor is used to acquire a second image, and the first image and the second image are used to generate a panoramic image. When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

9. A shooting device, characterized in that, include: The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: In response to the shooting device entering the panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to a first posture, and the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

10. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven to a first posture by the rotating shaft drive assembly, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

11. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture; When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

12. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating axis drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in a panoramic shooting mode. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

13. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

14. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire the first image, the second image sensor is controlled to acquire the second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

15. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture. When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

16. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

17. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor is used to acquire a first image, the second image sensor is used to acquire a second image, and the first image and the second image are used to generate a panoramic image. When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

18. A shooting device, characterized in that, The shooting device is capable of mounting a load, the load including at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The shooting device includes: A rotary shaft drive assembly is used to drive the load to rotate about a rotary shaft; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: In response to the shooting device entering the panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to a first posture, and the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

19. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven to a first posture by the rotating shaft drive assembly, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

20. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture; When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

21. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating axis drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in a panoramic shooting mode. When the load is driven to a second posture by the rotating axis drive assembly, the shooting device is controlled to exit the panoramic shooting mode. When the shooting device exits the panoramic shooting mode, the first image sensor is used to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

22. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

23. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire the first image, the second image sensor is controlled to acquire the second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

24. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture. When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

25. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the load is driven by the rotating shaft drive assembly to a first posture, the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

26. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor is used to acquire a first image, the second image sensor is used to acquire a second image, and the first image and the second image are used to generate a panoramic image. When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

27. A shooting device, characterized in that, The imaging device is capable of mounting a load and a rotation axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The rotation axis drive assembly is used to drive the load to rotate about a rotation axis. The imaging device includes: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: In response to the shooting device entering the panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to a first posture, and the first image sensor is controlled to acquire a first image, the second image sensor is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

28. The shooting device according to any one of claims 1 to 27, characterized in that, The optical axes of the first image sensor and the second image sensor are parallel to each other, and the main sensing direction of the first image sensor is opposite to that of the second image sensor.

29. The shooting device according to claim 28, characterized in that, The optical axes of the first image sensor and the second image sensor are collinear.

30. The shooting device according to any one of claims 1 to 29, characterized in that, The field of view of the first image sensor is greater than or equal to 180 degrees, the field of view of the second image sensor is greater than or equal to 180 degrees, and the panoramic image includes a 360-degree panorama.

31. The shooting device according to any one of claims 1 to 30, characterized in that, When the load is in the first posture, the first image sensor is used to acquire an image above the shooting device and the second image sensor is used to acquire an image below the shooting device, or the first image sensor is used to acquire an image below the shooting device and the second image sensor is used to acquire an image above the shooting device.

32. The shooting device according to claim 31, characterized in that, The first image sensor has a vertical field of view of 180 degrees or more and a horizontal field of view of 360 degrees or more, the second image sensor has a vertical field of view of 180 degrees or more and a horizontal field of view of 360 degrees or more, and the panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama.

33. The shooting device according to any one of claims 1 to 30, characterized in that, The first image sensor is used to acquire an image to the left of the shooting device and the second image sensor is used to acquire an image to the right of the shooting device; or, the first image sensor is used to acquire an image to the right of the shooting device and the second image sensor is used to acquire an image to the left of the shooting device; or, the first image sensor is used to acquire an image in front of the shooting device and the second image sensor is used to acquire an image behind the shooting device; or, the first image sensor is used to acquire an image behind the shooting device and the second image sensor is used to acquire an image in front of the shooting device.

34. The shooting device according to claim 33, characterized in that, The first image sensor has a horizontal field of view of ≥180 degrees and a vertical field of view of ≥360 degrees, the second image sensor has a horizontal field of view of ≥180 degrees and a vertical field of view of ≥360 degrees, and the panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama.

35. The shooting device according to any one of claims 1 to 34, characterized in that, Both the first image sensor and the second image sensor are fisheye lenses.

36. The shooting device according to any one of claims 1 to 4, 7 to 13, 16 to 22, and 25 to 27, characterized in that, The control of the first image sensor to acquire the third image includes: controlling the first image sensor to acquire the third image in the direction of movement of the shooting device, or controlling the first image sensor to acquire the third image in the direction of interest.

37. The shooting device according to any one of claims 1 to 36, characterized in that, The rotary axis drive assembly includes a pitch axis drive assembly.

38. The shooting device according to any one of claims 1 to 37, characterized in that, When the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor are approximately vertical.

39. The shooting device according to any one of claims 1 to 37, characterized in that, When the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a first angle with the vertical direction.

40. The shooting device according to claim 39, characterized in that, The first included angle is less than or equal to the first preset angle threshold.

41. The shooting device according to any one of claims 1 to 37, characterized in that, When the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor are parallel to the vertical direction of the body of the shooting device.

42. The shooting device according to any one of claims 1 to 37, characterized in that, When the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a second angle with the vertical direction of the body of the shooting device.

43. The shooting device according to claim 42, characterized in that, The second included angle is less than or equal to the second preset angle threshold.

44. The shooting device according to any one of claims 1 to 43, characterized in that, When the load is in the second posture, the optical axes of the first image sensor and the second image sensor are approximately horizontal.

45. The shooting device according to any one of claims 1 to 43, characterized in that, When the load is in the second posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a third angle with the horizontal direction.

46. ​​The shooting device according to claim 45, characterized in that, The third included angle is less than or equal to the third preset angle threshold.

47. The shooting device according to any one of claims 1 to 43, characterized in that, When the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the horizontal direction of the camera body.

48. The shooting device according to any one of claims 1 to 43, characterized in that, When the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the direction of movement of the imaging device.

49. The shooting device according to any one of claims 1 to 43, characterized in that, When the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the direction of interest of the imaging device.

50. The shooting device according to any one of claims 1 to 43, characterized in that, When the load is in the second posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a fourth angle with the horizontal direction of the body of the shooting device.

51. The shooting device according to claim 50, characterized in that, The fourth included angle is an angle greater than zero and less than 90 degrees.

52. The shooting device according to any one of claims 1 to 51, characterized in that, The processor is also used for: In response to the shooting device entering panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to the first posture.

53. The shooting device according to any one of claims 1 to 52, characterized in that, The processor is also used for: In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture.

54. The shooting device according to any one of claims 1 to 53, characterized in that, The processor is also used for: In response to the shooting device being in the take-off or landing phase, the rotation axis drive assembly is controlled to drive the load into a second attitude.

55. The shooting device according to any one of claims 1 to 54, characterized in that, The processor is also used for: In response to the shooting device being in aerial shooting mode or FPV mode, the rotating axis drive assembly is controlled to drive the load into a second posture.

56. The shooting device according to any one of claims 1 to 55, characterized in that, The processor is also used for: In response to the shooting device being in storage mode, the rotation axis drive assembly is controlled to drive the load in the first posture, and the first image sensor and the second image sensor are controlled to stop working.

57. The shooting device according to claim 56, characterized in that, The storage mode is determined based on the height of the shooting device above the ground.

58. The shooting device according to any one of claims 1 to 57, characterized in that, The shooting device includes multiple different modes, and the corresponding second posture is different in different modes.

59. The shooting device according to any one of claims 1 to 58, characterized in that, The rotation axis drive assembly drives the load to rotate at an angle within a preset range.

60. The shooting device according to any one of claims 1 to 59, characterized in that, The rotation axis of the rotating shaft drive assembly passes through the center of the load, or the rotation axis of the rotating shaft drive assembly is offset from the center of the load.

61. The shooting device according to any one of claims 1 to 60, characterized in that, The rotary axis drive assembly is located at the head of the shooting device.

62. The shooting device according to any one of claims 1 to 61, characterized in that, The shooting equipment includes one or more modes such as panoramic shooting mode, FPV mode, aerial shooting mode, landing mode, take-off mode, or storage mode.

63. The shooting device according to claim 62, characterized in that, The switching between the various modes by the shooting device can be performed automatically by the shooting device or manually triggered by the user.

64. The shooting device according to any one of claims 1 to 63, characterized in that, in, The panoramic image does not contain the shooting device itself.

65. The shooting device according to any one of claims 1 to 64, characterized in that, The shooting device also includes a visual sensor, which is used to collect environmental information around the shooting device.

66. The shooting device according to claim 65, characterized in that, The vision sensor includes a binocular vision sensor, which comprises a first vision sensor and a second vision sensor.

67. The shooting device according to claim 65 or 66, characterized in that, The visual sensor is mounted on the head of the shooting device.

68. The shooting device according to any one of claims 65 to 67, characterized in that, The visual sensor can collect environmental information in front of and / or below the shooting device.

69. The shooting device according to any one of claims 65 to 67, characterized in that, The visual sensor is tilted and positioned at the head of the shooting device.

70. The shooting device according to any one of claims 65 to 67, characterized in that, The visual sensor is tilted downwards and positioned at the head of the shooting device.

71. The shooting device according to claim 69 or 70, characterized in that, The visual sensor can simultaneously collect environmental information in front of and below the shooting device.

72. The shooting device according to any one of claims 69 to 71, characterized in that, The optical axis of the visual sensor is at a set angle to the horizontal direction of the camera body.

73. The shooting device according to claim 72, characterized in that, The angle is greater than or equal to 30 degrees and less than or equal to 60 degrees.

74. The shooting device according to any one of claims 65 to 73, characterized in that, The field of view of the vision sensor is greater than or equal to 180 degrees.

75. The shooting device according to any one of claims 65 to 74, characterized in that, The visual sensor is used to assist the shooting device in obstacle avoidance and / or positioning.

76. The shooting device according to any one of claims 1 to 75, characterized in that, The shooting equipment includes a mobile platform or a panoramic camera.

77. The shooting device according to claim 76, characterized in that, The mobile platform includes aircraft, mobile robots, mobile vehicles, ships, or handheld products.

78. A shooting device, characterized in that, include: body; The load includes at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, and the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A single-axis drive assembly, the single-axis drive assembly including a pitch axis drive assembly, one end of the pitch axis drive assembly being connected to the load for driving the load to rotate about the pitch axis; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the pitch axis drive assembly drives the load to a first attitude, the first image sensor is controlled to acquire a first image above the shooting device, the second image sensor is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image, wherein the shooting device itself is not in the panoramic image.

79. A shooting device, characterized in that, include: The fuselage is capable of mounting a load, the load including at least a first image sensor and a second image sensor, the first image sensor being used to sense information of a first field of view, the second image sensor being used to sense information of a second field of view, wherein the first field of view and the second field of view are different and at least partially overlap, and the set of the first field of view and the second field of view at least covers the panoramic field of view. A single-axis drive assembly, the single-axis drive assembly including a pitch axis drive assembly, one end of the pitch axis drive assembly being connected to the load for driving the load to rotate about the pitch axis; One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the pitch axis drive assembly drives the load to a first attitude, the first image sensor is controlled to acquire a first image above the shooting device, the second image sensor is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image, wherein the shooting device itself is not in the panoramic image.

80. A shooting device, characterized in that, include: The device includes a fuselage capable of mounting a load and a single-axis drive assembly. The load includes at least a first image sensor and a second image sensor. The first image sensor is used to sense information about a first field of view, and the second image sensor is used to sense information about a second field of view. The first and second field of view are different and at least partially overlap, and the set of the first and second field of view at least covers a panoramic field of view. The single-axis drive assembly includes a pitch axis drive assembly, one end of which is connected to the load and used to drive the load to rotate about a pitch axis. One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to perform the following operations: When the pitch axis drive assembly drives the load to a first attitude, the first image sensor is controlled to acquire a first image above the shooting device, the second image sensor is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image, wherein the shooting device itself is not in the panoramic image.

81. A method for controlling a shooting device, characterized in that, include: When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor. The field of view of the first image sensor includes a first central field of view and a first edge field of view. When the load is in the first posture, the first edge field of view at least covers the target field of view. When the load is in the first posture, the shooting device is in panoramic shooting mode. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture is different from the second posture. When the load is in the second posture, the first central field of view range at least covers the target field of view range. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

82. A method for controlling a shooting device, characterized in that, include: When the rotating shaft drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image, wherein the shooting device is in panoramic shooting mode when the load is in the first posture; When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different, and the image quality of the target field of view acquired by the first image sensor when the load is in the second posture is higher than the image quality of the target field of view acquired by the first image sensor when the load is in the first posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

83. A method for controlling a shooting device, characterized in that, include: When the rotating axis drive assembly drives the load to a first posture, the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image. The load includes at least the first image sensor and the second image sensor. The first image sensor includes a center pixel region and an edge pixel region. When the load is in the first posture, the shooting device is in panoramic shooting mode. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image. The first posture and the second posture are different. When the load is in the second posture, the first image sensor uses the center pixel area to acquire the image in the target direction. When the load is in the first posture, the first image sensor uses the edge pixel area to acquire the image in the target direction. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

84. A method for controlling a shooting device, characterized in that, include: When the rotating shaft drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image, wherein the load includes at least the first image sensor and the second image sensor; When the load is driven by the rotary axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images, wherein the first posture and the second posture are different.

85. A method for controlling a shooting device, characterized in that, include: When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor, the panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture. When the load is driven by the rotating axis drive assembly to be in the second posture, the first image sensor is controlled to acquire a third image of the moving direction of the shooting device. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

86. A method for controlling a shooting device, characterized in that, include: When the rotating axis drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image. The load includes at least the first image sensor and the second image sensor, the panoramic image does not include the shooting device itself, and the shooting device is in panoramic shooting mode when the load is in the first posture. When the load is driven by the rotating axis drive assembly to a second posture, the first image sensor is controlled to acquire a third image of the shooting device in the direction of interest. The first posture is different from the second posture. When the load is in the second posture, the shooting device is in a non-panoramic shooting mode.

87. A method for controlling a shooting device, characterized in that, include: When the rotating shaft drive assembly drives the load to a first posture, it controls the first image sensor of the load to acquire a first image, controls the second image sensor of the load to acquire a second image, and generates a panoramic image based on the first image and the second image, wherein the load includes at least the first image sensor and the second image sensor; When the rotating shaft drive assembly drives the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

88. A method for controlling a shooting device, characterized in that, include: When the rotating shaft drive assembly drives the load to a first posture, the shooting device is controlled to enter a panoramic shooting mode. In the panoramic shooting mode, the first image sensor of the load is used to acquire a first image, and the second image sensor of the load is used to acquire a second image. The first image and the second image are used to generate a panoramic image. The load includes at least the first image sensor and the second image sensor. When the rotating axis drive assembly drives the load out of the first posture, the camera is controlled to exit the panoramic shooting mode. Controlling the camera to exit the panoramic shooting mode includes controlling the first image sensor to acquire a third image and controlling the second image sensor to stop acquiring images.

89. A method for controlling a shooting device, characterized in that, include: In response to the shooting device entering the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load in a first posture, and the first image sensor of the load is controlled to acquire a first image, the second image sensor of the load is controlled to acquire a second image, and a panoramic image is generated based on the first image and the second image; In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture, the first image sensor is controlled to acquire a third image, and the second image sensor is controlled to stop acquiring images.

90. The control method according to any one of claims 81 to 89, characterized in that, The optical axes of the first image sensor and the second image sensor are parallel to each other, and the main sensing direction of the first image sensor is opposite to that of the second image sensor.

91. The control method according to claim 90, characterized in that, The optical axes of the first image sensor and the second image sensor are collinear.

92. The control method according to any one of claims 81 to 91, characterized in that, The field of view of the first image sensor is greater than or equal to 180 degrees, the field of view of the second image sensor is greater than or equal to 180 degrees, and the panoramic image includes a 360-degree panorama.

93. The control method according to any one of claims 81 to 92, characterized in that, When the load is in the first posture, the first image sensor is used to acquire an image above the shooting device and the second image sensor is used to acquire an image below the shooting device, or the first image sensor is used to acquire an image below the shooting device and the second image sensor is used to acquire an image above the shooting device.

94. The control method according to claim 93, characterized in that, The first image sensor has a vertical field of view of 180 degrees or more and a horizontal field of view of 360 degrees or more, the second image sensor has a vertical field of view of 180 degrees or more and a horizontal field of view of 360 degrees or more, and the panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama.

95. The control method according to any one of claims 81 to 92, characterized in that, The first image sensor is used to acquire an image to the left of the shooting device and the second image sensor is used to acquire an image to the right of the shooting device; or, the first image sensor is used to acquire an image to the right of the shooting device and the second image sensor is used to acquire an image to the left of the shooting device; or, the first image sensor is used to acquire an image in front of the shooting device and the second image sensor is used to acquire an image behind the shooting device; or, the first image sensor is used to acquire an image behind the shooting device and the second image sensor is used to acquire an image in front of the shooting device.

96. The control method according to claim 95, characterized in that, The first image sensor has a horizontal field of view of ≥180 degrees and a vertical field of view of ≥360 degrees, the second image sensor has a horizontal field of view of ≥180 degrees and a vertical field of view of ≥360 degrees, and the panoramic image includes a horizontal 360-degree panorama and a vertical 360-degree panorama.

97. The control method according to any one of claims 81 to 96, characterized in that, Both the first image sensor and the second image sensor are fisheye lenses.

98. The control method according to any one of claims 81 to 84, 87 to 89, characterized in that, The control of the first image sensor to acquire the third image includes: controlling the first image sensor to acquire the third image in the direction of movement of the shooting device, or controlling the first image sensor to acquire the third image in the direction of interest of the shooting device.

99. The control method according to any one of claims 81 to 98, characterized in that, The rotary axis drive assembly includes a pitch axis drive assembly.

100. The control method according to any one of claims 81 to 99, characterized in that, When the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor are approximately vertical.

101. The control method according to any one of claims 81 to 99, characterized in that, When the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a first angle with the vertical direction.

102. The control method according to claim 101, characterized in that, The first included angle is less than or equal to the first preset angle threshold.

103. The control method according to any one of claims 81 to 99, characterized in that, When the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor are parallel to the vertical direction of the body of the shooting device.

104. The control method according to any one of claims 81 to 99, characterized in that, When the load is in the first posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a second angle with the vertical direction of the body of the shooting device.

105. The control method according to claim 104, characterized in that, The second included angle is less than or equal to the second preset angle threshold.

106. The control method according to any one of claims 81 to 105, characterized in that, When the load is in the second posture, the optical axes of the first image sensor and the second image sensor are approximately horizontal.

107. The control method according to any one of claims 81 to 105, characterized in that, When the load is in the second posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a third angle with the horizontal direction.

108. The control method according to claim 107, characterized in that, The third included angle is less than or equal to the third preset angle threshold.

109. The control method according to any one of claims 81 to 105, characterized in that, When the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the horizontal direction of the camera body.

110. The control method according to any one of claims 81 to 105, characterized in that, When the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the direction of movement of the imaging device.

111. The control method according to any one of claims 81 to 105, characterized in that, When the load is in the second posture, the optical axes of the first image sensor and the second image sensor are parallel to the direction of interest of the imaging device.

112. The control method according to any one of claims 81 to 105, characterized in that, When the load is in the second posture, the optical axis of the first image sensor and the optical axis of the second image sensor form a fourth angle with the horizontal direction of the body of the shooting device.

113. The control method according to claim 112, characterized in that, The fourth included angle is an angle greater than zero and less than 90 degrees.

114. The control method according to any one of claims 81 to 113, characterized in that, The method further includes: In response to the shooting device entering panoramic shooting mode, the rotating axis drive assembly is controlled to drive the load to the first posture.

115. The control method according to any one of claims 81 to 114, characterized in that, The method further includes: In response to the shooting device exiting the panoramic shooting mode, the rotation axis drive assembly is controlled to drive the load out of the first posture.

116. The control method according to any one of claims 81 to 115, characterized in that, The method further includes: In response to the shooting device being in the take-off or landing phase, the rotation axis drive assembly is controlled to drive the load into a second attitude.

117. The control method according to any one of claims 81 to 116, characterized in that, The method further includes: In response to the shooting device being in aerial shooting mode or FPV mode, the rotating axis drive assembly is controlled to drive the load into a second posture.

118. The control method according to any one of claims 81 to 117, characterized in that, The method further includes: In response to the shooting device being in storage mode, the rotation axis drive assembly is controlled to drive the load in the first posture, and the first image sensor and the second image sensor are controlled to stop working.

119. The control method according to claim 118, characterized in that, The storage mode is determined based on the height of the shooting device above the ground.

120. The control method according to any one of claims 81 to 119, characterized in that, The rotation axis drive assembly drives the load to rotate at an angle within a preset range.

121. The control method according to any one of claims 81 to 120, characterized in that, The shooting device includes multiple different modes, and the corresponding second posture is different in different modes.

122. The control method according to any one of claims 81 to 121, characterized in that, The rotation axis of the rotating shaft drive assembly passes through the center of the load, or the rotation axis of the rotating shaft drive assembly is offset from the center of the load.

123. The control method according to any one of claims 81 to 122, characterized in that, The rotary axis drive assembly is located on the head of the shooting device.

124. The control method according to any one of claims 81 to 123, characterized in that, The shooting equipment includes one or more modes such as panoramic shooting mode, FPV mode, aerial shooting mode, landing mode, take-off mode, or storage mode.

125. The control method according to claim 124, characterized in that, The switching between the various modes by the shooting device can be performed automatically by the shooting device or manually triggered by the user.

126. The control method according to any one of claims 81 to 125, characterized in that, in, The panoramic image does not contain the shooting device itself.

127. The control method according to any one of claims 81 to 126, characterized in that, The shooting device also includes a visual sensor, which is used to collect environmental information around the shooting device.

128. The control method according to claim 127, characterized in that, The vision sensor includes a binocular vision sensor, which comprises a first vision sensor and a second vision sensor.

129. The control method according to claim 127 or 128, characterized in that, The visual sensor is mounted on the head of the shooting device.

130. The control method according to any one of claims 127 to 129, characterized in that, The visual sensor can collect environmental information in front of and / or below the shooting device.

131. The control method according to any one of claims 127 to 129, characterized in that, The visual sensor is tilted and positioned at the head of the shooting device.

132. The control method according to any one of claims 127 to 129, characterized in that, The visual sensor is tilted downwards and positioned at the head of the shooting device.

133. The control method according to claim 131 or 132, characterized in that, The visual sensor can simultaneously collect environmental information in front of and below the shooting device.

134. The control method according to any one of claims 131 to 133, characterized in that, The optical axis of the visual sensor is at a set angle to the horizontal direction of the camera body.

135. The control method according to claim 134, characterized in that, The angle is greater than or equal to 30 degrees and less than or equal to 60 degrees.

136. The control method according to any one of claims 127 to 135, characterized in that, The field of view of the vision sensor is greater than or equal to 180 degrees.

137. The control method according to any one of claims 127 to 136, characterized in that, The visual sensor is used to assist the shooting device in obstacle avoidance and / or positioning.

138. The control method according to any one of claims 81 to 137, characterized in that, The shooting equipment includes a mobile platform or a panoramic camera.

139. The control method according to claim 138, characterized in that, The mobile platform includes aircraft, mobile robots, mobile vehicles, ships, or handheld products.

140. A method for controlling a shooting device, characterized in that, include: When the load is driven by the pitch axis drive assembly to a first attitude, the first image sensor of the load is controlled to acquire a first image above the shooting device, the second image sensor of the load is controlled to acquire a second image below the shooting device, and a panoramic image is generated based on the first image and the second image. The shooting device itself is not in the panoramic image. The load includes at least the first image sensor and the second image sensor, and the pitch axis drive assembly is used to drive the load to rotate about the pitch axis.

141. A control device for a shooting equipment, characterized in that, include: One or more memories are used to store computer program instructions; One or more processors are configured to invoke the computer program instructions to execute the control method of the imaging device as described in any one of claims 81 to 140.

142. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the control method of the shooting device as described in any one of claims 81 to 140.

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